diff --git a/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml index fba2396b4a47c4d88561d28c01025aed109ced52..c57f25585c2e9d5ccc41627fd04d5fc80116bc4a 100644 --- a/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml +++ b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_beauty_sponge_and_cake_to_place dataset_name: beauty_sponge_and_cake_to_place -dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_beauty_sponge_and_cake_to_place -video_url: ./assets/videos/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8096 dataset_size: 394.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 8096 @@ -77,283 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the beauty blender out of the plate with one hand and place it on the - table, then pick up the cake on the table with the other hand and put it on the - plate. +dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - End @@ -371,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -569,383 +144,3 @@ structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 77 - dataset_name: beauty_sponge_and_cake_to_place - dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bb_bounces_on_the_table_and_cake_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_beauty_sponge_and_cake_to_place - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: beauty_sponge_and_cake_to_place - dataset_uuid: null - task_descriptions: - - take the beauty blender out of the plate with your left hand and place it on - the table, then pick up the cake on the table with your right hand and put it - on the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: beauty_blender - level1: tools - level2: beauty_blender - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 8096 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml index ba96f9886c4c5c06fd2022598178d47b0c70a205..570956aceeee33bd284a9d6474a17f52e3168304 100644 --- a/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml +++ b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_bowl_storage_pepper dataset_name: bowl_storage_pepper -dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the white bowl on the pink bowl with the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_bowl_storage_pepper -video_url: ./assets/videos/AIRBOT_MMK2_bowl_storage_pepper.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_bowl_storage_pepper.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-19594 dataset_size: 715.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 150 total_frames: 19594 @@ -77,287 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:149 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Use one hand to place the pumpkin into the large white bowl while using your - other hand to make space. - - The person used one hand to throw the chili peppers into the blue bowl. - - Use one hand to place the small bowl into the large one while using your other hand - to make space.' +dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the white bowl on the pink bowl with the left gripper - Grasp the white bowl with the left gripper @@ -377,183 +70,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -575,383 +146,3 @@ structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 98 - dataset_name: bowl_storage_pepper - dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bowl_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_bowl_storage_pepper - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: bowl_storage_pepper - dataset_uuid: null - task_descriptions: - - with the right hand, the person threw the chili peppers into the blue bowl. - - put the pumpkin into the large white bowl with your left hand. give space to - your left hand with your right hand. - - put the small bowl into the large one with your left hand, and give space to - your left hand with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: chili_pepper - level1: vegetables - level2: chili_pepper - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level4: null - level5: null - - object_name: pumpkin - level1: vegetables - level2: pumpkin - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 150 - total_frames: 19594 - total_tasks: 3 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:149 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_boxs_storage.yaml b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml index b604614109d26ffaf40ea7bec720ed0c9b277c23..7d8a433c339d2ce495424036d101b9c3ca502ad5 100644 --- a/dataset_info/AIRBOT_MMK2_boxs_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_boxs_storage dataset_name: boxs_storage -dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the potato with the left gripper objects: - object_name: table level1: furniture @@ -64,41 +64,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_boxs_storage -video_url: ./assets/videos/AIRBOT_MMK2_boxs_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_boxs_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-40906 dataset_size: 1.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 138 total_frames: 40906 @@ -107,285 +75,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:137 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Throw the pomegranate into one square and the mango into the other square. - - Throw the potato into one square and the pumpkin into the other square. - - Put the calculator box and the power bank box in the yellow bucket.' +dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the potato with the left gripper - Place the phone case box in the yellow box with the right gripper @@ -411,183 +106,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -608,416 +180,3 @@ structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 99 - dataset_name: boxs_storage - dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/box_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_boxs_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: boxs_storage - dataset_uuid: null - task_descriptions: - - put the calculator box in the yellow bucket with your left hand and the power - bank box in the yellow bucket with your right hand. - - throw the pomegranate into the left square with your left hand and the mango - into the right square with your right hand. - - throw the potato into the left square with your left hand and the pumpkin into - the right square with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - - object_name: power_bank_box - level1: container - level2: power_bank_box - level3: null - level4: null - level5: null - - object_name: bucket - level1: container - level2: bucket - level3: null - level4: null - level5: null - - object_name: pomegranate - level1: fruit - level2: pomegranate - level3: null - level4: null - level5: null - - object_name: mango - level1: fruit - level2: mango - level3: null - level4: null - level5: null - - object_name: potato - level1: vegetable - level2: potato - level3: null - level4: null - level5: null - - object_name: pumpkin - level1: vegetable - level2: pumpkin - level3: null - level4: null - level5: null - - object_name: compartment - level1: container - level2: compartment - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 138 - total_frames: 40906 - total_tasks: 3 - total_videos: 552 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:137 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_building_block_storage.yaml b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml index 17a4f70fafc1dbe90623ef0d1512d5e0ed69dceb..74647e372fca7846f3097a850b59f7f51128d608 100644 --- a/dataset_info/AIRBOT_MMK2_building_block_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_building_block_storage dataset_name: building_block_storage -dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the red cylinder in the box with the right gripper objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_building_block_storage -video_url: ./assets/videos/AIRBOT_MMK2_building_block_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_building_block_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-39347 dataset_size: 1.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 246 total_frames: 39347 @@ -89,296 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:245 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Take the rectangular building blocks out of the plate with one hand, and then - take the remaining rectangular building blocks out of the plate with the other hand. - - pick up the building blocks on the table with both hands simultaneously and place - them on the plate. - - Pick up one yellow building block from a side of the table and put it in the blue - circle, and then pick up the other yellow building block from the opposite side - of the table and put it in the blue circle. - - Pick up the green cylinder from one side of the table and put it in the paper box, - then pick up the red cylinder from the opposite side of the table and put it in - the paper box. - - Pick up the cylindrical building block from the table and place it on the corresponding - block base.' +dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the red cylinder in the box with the right gripper - Place the yellow block in the blue circle with the left gripper @@ -405,183 +89,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -603,405 +165,3 @@ structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 101 - dataset_name: building_block_storage - dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/building_block_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_building_block_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: building_block_storage - dataset_uuid: null - task_descriptions: - - pick up the yellow building block on the left side of the table with your left - hand and put it in the blue circle, and then pick up the yellow building block - on the right side of the table and put it in the blue circle with your right - hand. - - pick up the cylindrical building block from the table with your right hand and - place it on the corresponding block base. - - pick up the green cylinder on the left side of the table with your left hand - and put it in the paper box, then pick up the red cylinder on the right side - of the table and put it in the paper box with your right hand. - - pick up the building blocks on the table with both hands simultaneously and - place them on the plate. - - take the rectangular building blocks out of the plate with your left hand, and - then take the rectangular building blocks out of the plate with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - - object_name: toy_circle - level1: toy - level2: toy_circle - level3: null - level4: null - level5: null - - object_name: building_block_base - level1: toy - level2: building_block_base - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 246 - total_frames: 39347 - total_tasks: 5 - total_videos: 984 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:245 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_cake_storage.yaml b/dataset_info/AIRBOT_MMK2_cake_storage.yaml index 5d105c4829f8f77ce0bfe7aaaad396098afa09de..25d422c685430d5354ac3fb182f8b594a2ba8366 100644 --- a/dataset_info/AIRBOT_MMK2_cake_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_cake_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_cake_storage dataset_name: cake_storage -dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_cake_storage -video_url: ./assets/videos/AIRBOT_MMK2_cake_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_cake_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-4691 dataset_size: 198.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 4691 @@ -71,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cake on the table with both hands and place it on a white plate. +dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the cake with the left gripper @@ -362,183 +61,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -559,375 +135,3 @@ structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 84 - dataset_name: cake_storage - dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/put_the_cake_on/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_cake_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cake_storage - dataset_uuid: null - task_descriptions: - - pick up the cake on the table with both hands and place it on a white plate. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 4691 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml index 5e08f37311d619461ccc816302ad94cd034f0a02..6f86f147d5799b7a999d873eedf416093fbc50fd 100644 --- a/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml +++ b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml @@ -1,15 +1,15 @@ +path: AIRBOT_MMK2_chop_the_scallions dataset_name: chop_the_scallions -dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place - cut -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the kitchen knife with the right gripper objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_chop_the_scallions -video_url: ./assets/videos/AIRBOT_MMK2_chop_the_scallions.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_chop_the_scallions.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-14308 dataset_size: 573.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 14308 @@ -66,283 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the knife off the knife rack with one hand, hold the scallion with the - other hand, cut the scallion with the knife, and then put the knife back on the - knife rack. +dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the kitchen knife with the right gripper - Press the scallion with the left gripper @@ -360,183 +57,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -558,373 +133,3 @@ structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 90 - dataset_name: chop_the_scallions - dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/chop_the_scallions/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_chop_the_scallions - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: chop_the_scallions - dataset_uuid: null - task_descriptions: - - take the knife off the knife rack with your right hand, hold the scallion with - your left hand, cut the scallion with your right hand, and then put the knife - back on the knife rack. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - cut - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: knife - level1: food - level2: green_onion - level3: null - level4: null - level5: null - bject_name: green_onion - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 14308 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml index e317311bcccf0c25c2d12e5cb215f0086102296d..837e46caf15b1a6b70dbf81b63fcc3cf9e893b23 100644 --- a/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_clean_the_desktop dataset_name: clean_the_desktop -dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_clean_the_desktop -video_url: ./assets/videos/AIRBOT_MMK2_clean_the_desktop.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8709 dataset_size: 327.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 8709 @@ -65,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: place the umbrella and tissues on the white lid. +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the tissue with the right gripper @@ -355,183 +54,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -553,370 +130,3 @@ structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 436 - dataset_name: clean_the_desktop - dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/clean_the_desktop/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_clean_the_desktop - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_calculator_box - dataset_uuid: null - task_descriptions: - - pick the calculator box by left hand and give it to right hand,and then place - it on the table by right hand - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: tools - level2: umbrella - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 8709 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml index 4d06e26bf4d9d2dd1c5de6d237d50267f59a5bc0..0711ec7b173cf313aad720dafb0276a2f8e0857d 100644 --- a/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_clean_the_desktop_a dataset_name: clean_the_desktop_a -dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the calculator case in the center of table with right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_clean_the_desktop_a -video_url: ./assets/videos/AIRBOT_MMK2_clean_the_desktop_a.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9819 dataset_size: 338.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9819 @@ -65,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: place the umbrella and tissues on the white lid. +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the calculator case in the center of table with right gripper - Grasp the calculator case with left gripper @@ -354,183 +53,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -552,370 +129,3 @@ structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 573 - dataset_name: clean_the_desktop_a - dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/clean_the_desktop/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_clean_the_desktop_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_calculator_box - dataset_uuid: null - task_descriptions: - - pick the calculator box by left hand and give it to right hand,and then place - it on the table by right hand - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: tools - level2: umbrella - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9819 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_close_the_computer.yaml b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml index f572428115eff59b7301145d964e4784da21063d..12d4b4e5b8655fc2bb3386d479d86ca925ad239b 100644 --- a/dataset_info/AIRBOT_MMK2_close_the_computer.yaml +++ b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_close_the_computer dataset_name: close_the_computer -dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_close_the_computer -video_url: ./assets/videos/AIRBOT_MMK2_close_the_computer.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_close_the_computer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7754 dataset_size: 320.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 7754 @@ -65,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Hold the computer with one hand and close it with the other. +dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Press the laptop with the left gripper @@ -356,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -554,369 +131,3 @@ structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 73 - dataset_name: close_the_computer - dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/close_the_computer/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_close_the_computer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: close_the_computer - dataset_uuid: null - task_descriptions: - - hold the computer with your left hand and close it with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: computer - level1: office_supplies - level2: computer - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 7754 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_cup_storage.yaml b/dataset_info/AIRBOT_MMK2_cup_storage.yaml index 028c3231eb64e655683405445df865509f77c476..51ba3a00c771553c6f1ad69f23a53f4200df4d71 100644 --- a/dataset_info/AIRBOT_MMK2_cup_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_cup_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_cup_storage dataset_name: cup_storage -dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the blue cup on the plate with the left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_cup_storage -video_url: ./assets/videos/AIRBOT_MMK2_cup_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_cup_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12246 dataset_size: 522.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 12246 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Hold the blue cup in one hand and place it on the plate, then hold the purple - cup in your other hand and put it in the blue cup. +dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the blue cup on the plate with the left gripper - Place the purple cup on the blue cup with the right gripper @@ -363,183 +61,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -560,376 +135,3 @@ structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 88 - dataset_name: cup_storage - dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/cup_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_cup_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cup_storage - dataset_uuid: null - task_descriptions: - - hold the blue cup in your left hand and place it on the plate, and hold the - purple cup in your right hand and put it in the blue cup. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 12246 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_desktop_storage.yaml b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml index b05ff1d9e0f667f94734a05301ad8e5980fe48b1..8723fcc864db9b9c3eee4b16d8d9cc7cdccc0d7a 100644 --- a/dataset_info/AIRBOT_MMK2_desktop_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_desktop_storage dataset_name: desktop_storage -dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the mouse box on the calculator box with the left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_desktop_storage -video_url: ./assets/videos/AIRBOT_MMK2_desktop_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_desktop_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-3939 dataset_size: 171.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 13 total_frames: 3939 @@ -83,282 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:12 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Stack the mouse box on top of the computer box with one hand and place the - coffee cup on the plate with the other. +dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse box on the calculator box with the left gripper - Grasp the coffee with the right gripper @@ -375,183 +73,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -573,388 +149,3 @@ structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 79 - dataset_name: desktop_storage - dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/desktop_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_desktop_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: desktop_storage - dataset_uuid: null - task_descriptions: - - place the mouse box on top of the calculator box with your left hand and place - the coffee cup on the plate with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - - object_name: coffee_cup - level1: container - level2: coffee_cup - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 13 - total_frames: 3939 - total_tasks: 1 - total_videos: 52 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:12 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_diamond_storage.yaml b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml index 7f66d5335111702ec0023f93196972a474a757c9..04e13f563faca4b2d0c66e432f7ec495cecaec0a 100644 --- a/dataset_info/AIRBOT_MMK2_diamond_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml @@ -1,15 +1,15 @@ +path: AIRBOT_MMK2_diamond_storage dataset_name: diamond_storage -dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place - cover -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +29,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_diamond_storage -video_url: ./assets/videos/AIRBOT_MMK2_diamond_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_diamond_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9131 dataset_size: 426.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9131 @@ -72,281 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the diamond and put it into the box, then close the lid. +dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the diamond ring in the box with the right gripper @@ -361,183 +60,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -559,377 +136,3 @@ structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 89 - dataset_name: diamond_storage - dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/diamond_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_diamond_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: diamond_storage - dataset_uuid: null - task_descriptions: - - pick up the diamond with your right hand and put it into the box, then close - the lid with your left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - cover - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: diamond - level1: mineral - level2: diamond - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9131 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml index a46b1919e314e51a5fbeb9d93cc2ae9ed11b5d0e..5dd512f1888f49b038dbc85766b4a462cc82d864 100644 --- a/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml +++ b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml @@ -1,14 +1,15 @@ +path: AIRBOT_MMK2_double-sided_tape_placement dataset_name: double-sided_tape_placement -dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the transparent circular ring on the right onto the fanta in the middle with + right gripper objects: - object_name: table level1: furniture @@ -28,41 +29,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_double-sided_tape_placement -video_url: ./assets/videos/AIRBOT_MMK2_double-sided_tape_placement.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_double-sided_tape_placement.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11452 dataset_size: 553.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 11452 @@ -71,282 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up a piece of double-sided tape and put it over the meinianda, then pick - up another piece and put it over the meinianda. +dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the transparent circular ring on the right onto the fanta in the middle with right gripper @@ -365,183 +64,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -563,376 +140,3 @@ structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 91 - dataset_name: double-sided_tape_placement - dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/meinian_da_set_of_adhesive_tape/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_double-sided_tape_placement - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: double-sided_tape_placement - dataset_uuid: null - task_descriptions: - - pick up the double-sided tape with your left hand and put it over the meinianda, - pick up another double-sided tape with your right hand and put it over the meinianda. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: meinian_da - level1: drink - level2: meinian_da - level3: null - level4: null - level5: null - - object_name: double-sided_tape - level1: tool - level2: double-sided_tape - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 11452 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_egg_storage.yaml b/dataset_info/AIRBOT_MMK2_egg_storage.yaml index edbb1b09ba29d1e642e2e82a06f9130b7361e378..8fb3409b44450c434e123f2d92ce1e856ef3b495 100644 --- a/dataset_info/AIRBOT_MMK2_egg_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_egg_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_egg_storage dataset_name: egg_storage -dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the egg with the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_egg_storage -video_url: ./assets/videos/AIRBOT_MMK2_egg_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_egg_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13597 dataset_size: 525.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 58 total_frames: 13597 @@ -77,284 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:57 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Put the egg on one side in the bowl with one hand and the egg on the other - side in the bowl with your other hand. - - Pick up the egg from the table with one hand and put it in the egg box.' +dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the egg with the left gripper - Grasp the egg with the right gripper @@ -371,183 +67,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -568,383 +141,3 @@ structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 103 - dataset_name: egg_storage - dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/egg_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_egg_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: egg_storage - dataset_uuid: null - task_descriptions: - - put the egg on the left in the bowl with your left hand and the egg on the right - in the bowl with your right hand. - - pick up the egg from the table with your right hand and put it in the egg box. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: egg_box - level1: food - level2: egg_box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 58 - total_frames: 13597 - total_tasks: 2 - total_videos: 232 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:57 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_food_storage.yaml b/dataset_info/AIRBOT_MMK2_food_storage.yaml index a44b088661e90aca3f35d85d87f2e1018e72c2c8..c2c8b686576d5f91541cc0e0ed420e9b18d945df 100644 --- a/dataset_info/AIRBOT_MMK2_food_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_food_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_food_storage dataset_name: food_storage -dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the cake from the table and with the left gripper objects: - object_name: table level1: furniture @@ -88,41 +88,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_food_storage -video_url: ./assets/videos/AIRBOT_MMK2_food_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_food_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-58969 dataset_size: 2.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 344 total_frames: 58969 @@ -131,300 +99,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:343 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Place the potato in one compartment using one hand while keeping the other - hand still. - - Pick up the cake and ice cream from the table simultaneously with both hands, and - then throw them into the bowl and plate at the same time. - - Take the sponge out of the plate with one hand and place it on the table, then pick - up the cake from the table with the other hand and put it on the plate. - - Pick up one egg on the table with one hand and put it on the plate, then pick up - another egg on the table with the other hand and put it on the plate. - - Pick up the egg on the table with one hand and put it into the egg box, then cover - the egg box with the other hand. - - Pick up the braised pork on the table with one hand and put it in the plate, and - then pick up the prawns on the table with the other hand and put them in the plate. - - Pick up one cake with one hand and place it on the wooden rack, and pick up the - other cake with the other hand and place it on the wooden rack.' +dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the cake from the table and with the left gripper - Place the shrimp into the plate with the right gripper @@ -461,183 +141,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -658,451 +215,3 @@ structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 104 - dataset_name: food_storage - dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/food_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_food_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: food_storage - dataset_uuid: null - task_descriptions: - - pick up the cake and ice cream from the table simultaneously with your left - and right hands, and then throw them into the bowl and plate at the same time. - - pick up the egg on the table with the right hand and put it into the egg box, - then cover the egg box with the left hand. - - place the potato in the left compartment with your left hand while keeping your - right hand still. - - pick up the braised pork on the table with your left hand and put it in the - plate, and then pick up the prawns on the table with your right hand and put - them in the plate. - - pick up the egg on the table with your left hand and put it on the plate, then - pick up another egg on the table with your right hand and put it on the plate. - - take the sponge out of the plate with your left hand and place it on the table, - then pick up the cake from the table with your right hand and put it on the - plate. - - pick up the cake on the left with your left hand and place it on the wooden - rack, and pick up the cake on the right with your right hand and place it on - the wooden rack. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: ice_cream - level1: food - level2: ice_cream - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: egg_box - level1: container - level2: egg_box - level3: null - level4: null - level5: null - - object_name: potato - level1: vegetables - level2: potato - level3: null - level4: null - level5: null - - object_name: grid - level1: container - level2: grid - level3: null - level4: null - level5: null - - object_name: braised_pork - level1: food - level2: braised_pork - level3: null - level4: null - level5: null - - object_name: prawns - level1: food - level2: prawns - level3: null - level4: null - level5: null - - object_name: sponge - level1: kitchenware - level2: sponge - level3: null - level4: null - level5: null - - object_name: wooden_frame - level1: furniture - level2: wooden_frame - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 344 - total_frames: 58969 - total_tasks: 7 - total_videos: 1376 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:343 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_item_storage.yaml b/dataset_info/AIRBOT_MMK2_item_storage.yaml index 61e6c92f3b956585b5489d7ef0d8ac9d34312f6d..a0d9144bf046d5936e1aa8c7ee8a2f832a4a1fa0 100644 --- a/dataset_info/AIRBOT_MMK2_item_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_item_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_item_storage dataset_name: item_storage -dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the umbrella with the left gripper objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_item_storage -video_url: ./assets/videos/AIRBOT_MMK2_item_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_item_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-18773 dataset_size: 717.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 72 total_frames: 18773 @@ -89,285 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:71 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Place the umbrella on the white lid with one hand, and then put the blue bottle - on the white lid with the other hand. - - Pick up the large and small bowls simultaneously with both hands and put them into - the yellow bucket at the same time.' +dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the umbrella with the left gripper - End @@ -388,183 +83,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -585,392 +157,3 @@ structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 100 - dataset_name: item_storage - dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bucket_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_item_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: item_storage - dataset_uuid: null - task_descriptions: - - pick up the large and small bowls simultaneously with both your left and right - hands and put them into the yellow bucket at the same time. - - place the umbrella on the white lid with your left hand, and then put the blue - bottle on the white lid with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: able - level3: null - level4: null - level5: null - - object_name: barrel - level1: container - level2: barrel - level3: null - level4: null - level5: null - - object_name: umbrella - level1: daily_necessities - level2: umbrella - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level4: null - level5: null - - object_name: lid - level1: daily_necessities - level2: lid - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 72 - total_frames: 18773 - total_tasks: 2 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:71 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml index aa192fbab53763c2a5914e5ed41e0dae70494c4c..93594f5077729d2b384c879643069308c72aa44d 100644 --- a/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_lemon_and_orange_storage dataset_name: lemon_and_orange_storage -dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_lemon_and_orange_storage -video_url: ./assets/videos/AIRBOT_MMK2_lemon_and_orange_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_lemon_and_orange_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8975 dataset_size: 286.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 8975 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the lemon in one compartment and the orange in the other compartment, - using a different hand for each. +dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Static @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,382 +144,3 @@ structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 69 - dataset_name: lemon_and_orange_storage - dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/fruits_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_lemon_and_orange_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: lemon_and_orange_storage - dataset_uuid: null - task_descriptions: - - put the lemon in the left compartment with your left hand, put the orange in - the right compartment with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruit - level2: lemon - level3: null - level4: null - level5: null - - object_name: compartment - level1: container - level2: compartment - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 8975 - total_tasks: 1 - total_videos: 116 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml index 90ba769197a8a5749e1c90ba4661e0b9eb6866b5..424620a0f9fcfe0793f9b0c4da77167c104caf04 100644 --- a/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_medicine_bottle_storage dataset_name: medicine_bottle_storage -dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the white bottle with the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_medicine_bottle_storage -video_url: ./assets/videos/AIRBOT_MMK2_medicine_bottle_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_medicine_bottle_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-16023 dataset_size: 467.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 16023 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the medicine bottle you are holding in one hand on the white platform, - then place the other medicine bottle you are holding on the same platform. +dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the white bottle with the left gripper - Static @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,383 +144,3 @@ structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annota \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 66 - dataset_name: medicine_bottle_storage - dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/medicine_bottle_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_medicine_bottle_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: medicine_bottle_storage - dataset_uuid: null - task_descriptions: - - place the medicine bottle with the medicine in the left hand on the white platform, - and then place the other white medicine bottle in the right hand on the same - white platform. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: medicine_bottle - level1: container - level2: medicine_bottle - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - - object_name: white_platform - level1: container - level2: white_platform - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 16023 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml index b80c6295386207dabde55945dd5e4eca273f2204..92fbebf8d21fdaa2ae610cd4f35c9f35b503545c 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_mobile_calculator_box dataset_name: mobile_calculator_box -dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the calculator case with left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_mobile_calculator_box -video_url: ./assets/videos/AIRBOT_MMK2_mobile_calculator_box.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_calculator_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-34396 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 150 total_frames: 34396 @@ -71,285 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:149 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'One hand picked up the white lid from one side of the table and passed it - to the other hand, which then placed the lid on the opposite side of the table. - - Pick up the calculator box from one side of the table with one hand and pass it - to your other hand, which will then place the box on the opposite side of the table.' +dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the calculator case with left gripper - End @@ -370,183 +65,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,380 +141,3 @@ structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 105 - dataset_name: mobile_calculator_box - dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mobile_goods/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_calculator_box - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_calculator_box - dataset_uuid: null - task_descriptions: - - pick up the calculator box from the left side of the table with your left hand - and pass it to your right hand, which will then place the calculator box on - the right side of the table. - - the left hand picked up the white lid from the left side of the table and passed - it to the right hand, and the right hand placed the white lid on the right side - of the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 150 - total_frames: 34396 - total_tasks: 2 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:149 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_car.yaml b/dataset_info/AIRBOT_MMK2_mobile_car.yaml index 0361c01ff7ac0389439c2ce24555f478abb11528..cde2e5d3fc9d157661b12f49841125784e093064 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_car.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_car.yaml @@ -1,12 +1,12 @@ +path: AIRBOT_MMK2_mobile_car dataset_name: mobile_car -dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 -scene_type: -- home -atomic_actions: -- push +robot_type: '' end_effector_type: - five_finger_hand -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- push +tasks: End objects: - object_name: table level1: furniture @@ -20,41 +20,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_mobile_car -video_url: ./assets/videos/AIRBOT_MMK2_mobile_car.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_car.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6897 dataset_size: 175.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 6897 @@ -63,281 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the yellow cart away from your body with one hand. +dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Push the toy car from left to right with the left gripper @@ -352,183 +51,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -549,367 +125,3 @@ structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 96 - dataset_name: mobile_car - dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/trolley/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_car - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_car - dataset_uuid: null - task_descriptions: - - push the yellow car to the right with your left hand. - scene_type: - - home - atomic_actions: - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: car - level1: toy - level2: car - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 6897 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml index cfcf7f5594caa8c10a265b3c498da96141851fe9..69208ba36997dd16d28a350d4261f18077bcf414 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_mobile_phone_storage dataset_name: mobile_phone_storage -dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_mobile_phone_storage -video_url: ./assets/videos/AIRBOT_MMK2_mobile_phone_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_phone_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9492 dataset_size: 496.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 9492 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the mobile phone and place it on the calculator box, then pick it up - from the box and put it on the table. +dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the telephone on the table with the right gripper @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,377 +138,3 @@ structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 83 - dataset_name: mobile_phone_storage - dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/big_mobile_phone_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_phone_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_phone_storage - dataset_uuid: null - task_descriptions: - - pick up the mobile phone with your left hand and place it on the calculator - box.use your right hand to pick up the mobile phone from the calculator box.Put - it on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mobile_phone - level1: communication_supplies - level2: mobile_phone - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 9492 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_open_notebook.yaml b/dataset_info/AIRBOT_MMK2_open_notebook.yaml index da1b825771a76038af9d673c41ca52c920294dfd..d6a90916cf258eb2b9b02dc2eeefba86251c7382 100644 --- a/dataset_info/AIRBOT_MMK2_open_notebook.yaml +++ b/dataset_info/AIRBOT_MMK2_open_notebook.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_open_notebook dataset_name: open_notebook -dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - open - hold -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_open_notebook -video_url: ./assets/videos/AIRBOT_MMK2_open_notebook.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_open_notebook.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11734 dataset_size: 432.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 11734 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Press the bottom corner of the notebook with one hand and open it with the - other. +dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - End @@ -357,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -554,370 +130,3 @@ structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 71 - dataset_name: open_notebook - dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/open_notebook/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_open_notebook - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: open_notebook - dataset_uuid: null - task_descriptions: - - press the bottom right corner of the notebook with your right hand and open - the notebook with your left hand. - scene_type: - - home - atomic_actions: - - grasp - - open - - hold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: notebook - level1: office_supplies - level2: notebook - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 11734 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml index 9b263b0666445dd9c15185abe119d701d030fef3..a4df44a277dfd0e3913e11df106b5759877d2d37 100644 --- a/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml +++ b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_organize_and_place_books dataset_name: organize_and_place_books -dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the yellow book on the white book with the right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_organize_and_place_books -video_url: ./assets/videos/AIRBOT_MMK2_organize_and_place_books.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_organize_and_place_books.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9838 dataset_size: 372.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 9838 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the book from the table with one hand and transfer it to your other hand, - then place it on another book. +dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the yellow book on the white book with the right gripper - Static @@ -356,183 +54,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -554,370 +130,3 @@ structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 75 - dataset_name: organize_and_place_books - dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/organize_books/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_organize_and_place_books - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: organize_and_place_books - dataset_uuid: null - task_descriptions: - - take the book from the table with your left hand and pass it to your right hand. - take the book with your right hand and place it on another book. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: book - level1: office_supplies - level2: book - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 9838 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_organize_books.yaml b/dataset_info/AIRBOT_MMK2_organize_books.yaml index 97d451ec80f54ad20896f0a67fc5865e9ed53981..08c2a29eb5e5d681398621a55fd375f90b8d5a0d 100644 --- a/dataset_info/AIRBOT_MMK2_organize_books.yaml +++ b/dataset_info/AIRBOT_MMK2_organize_books.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_organize_books dataset_name: organize_books -dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_organize_books -video_url: ./assets/videos/AIRBOT_MMK2_organize_books.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_organize_books.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9576 dataset_size: 439.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9576 @@ -71,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the book on the table and put it into the bookshelf. +dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Grasp the yellow book with the right gripper @@ -360,183 +59,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -557,375 +134,3 @@ structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 92 - dataset_name: organize_books - dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_bookshelf_stores_books/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_organize_books - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: organize_books - dataset_uuid: null - task_descriptions: - - pick up the book on the table with the right hand and put it into the bookshelf. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: book - level1: office_supplies - level2: book - level3: null - level4: null - level5: null - - object_name: bookshelf - level1: container - level2: bookshelf - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9576 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml index 8f959b6ffdfb49d1451503acaa60424051deaada..c4a513be7e4a92af2b2414c18a063c970221f019 100644 --- a/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml +++ b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_cookies_and_beer dataset_name: place_cookies_and_beer -dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the bagged cookies with the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_cookies_and_beer -video_url: ./assets/videos/AIRBOT_MMK2_place_cookies_and_beer.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_cookies_and_beer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10519 dataset_size: 515.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 10519 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the biscuit from the table and place it in the white lid, and put the - beer glass from the table into the white lid. +dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the bagged cookies with the left gripper - End @@ -368,183 +66,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -566,383 +142,3 @@ structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 82 - dataset_name: place_cookies_and_beer - dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/snack_and_beer_mug_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_cookies_and_beer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_cookies_and_beer - dataset_uuid: null - task_descriptions: - - use your left hand to pick up the biscuit on the table and place it in the white - lid, and with your right hand, put the beer glass from the table into the white - lid. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: biscuit - level1: food - level2: biscuit - level3: null - level4: null - level5: null - - object_name: lid - level1: daily_necessities - level2: lid - level3: null - level4: null - level5: null - - object_name: beer_mug - level1: container - level2: beer_mug - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 10519 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_basin.yaml b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml index 135ac98732230c60ac17061462535deb2e9578cf..0c1306325757499fc40ccccdc6bce43090a3d7e4 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_basin.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_basin dataset_name: place_the_basin -dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_basin -video_url: ./assets/videos/AIRBOT_MMK2_place_the_basin.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_basin.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7672 dataset_size: 272.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 7672 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: hold the basin on the table with both hands simultaneously, pick it up and - then put it down. +dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Place the basin on the table with the right gripper @@ -360,183 +58,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -558,370 +134,3 @@ structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 108 - dataset_name: place_the_basin - dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pick_up_and_put_down_the_basin/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_basin - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_basin - dataset_uuid: null - task_descriptions: - - hold the basin on the table with both hands simultaneously, pick it up and then - put it down. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basin - level1: container - level2: basin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 7672 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml index d3d516df502dbd303a11fdd1d58cb262a1c46297..da5cfe53dc992416e955b35176f868cdba769cf0 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_blue_and_purple_blocks dataset_name: place_the_blue_and_purple_blocks -dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the purple cube block with the left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_blue_and_purple_blocks -video_url: ./assets/videos/AIRBOT_MMK2_place_the_blue_and_purple_blocks.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_blue_and_purple_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10277 dataset_size: 502.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 10277 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the purple cube and place it on the plate, then pick up the blue cube - from the table and place it on top of the purple cube. +dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the purple cube block with the left gripper - Grasp the blue cube block with the right gripper @@ -363,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -561,377 +137,3 @@ structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 86 - dataset_name: place_the_blue_and_purple_blocks - dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/square_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_blue_and_purple_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_blue_and_purple_blocks - dataset_uuid: null - task_descriptions: - - pick up the purple cube with your left hand and place it on the plate. use your - right hand to pick up the blue cube on the table and place it on top of the - purple cube. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: square - level1: toy - level2: square - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 10277 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_books.yaml b/dataset_info/AIRBOT_MMK2_place_the_books.yaml index 3cf12a0b502edae3b0e6fae2c275c1c7a4ebf332..c9442f7d5ac34fd1cdd33b5aaa7d3a96d1796eec 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_books.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_books.yaml @@ -1,15 +1,15 @@ +path: AIRBOT_MMK2_place_the_books dataset_name: place_the_books -dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place - push -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Push the book from right to left with the right gripper objects: - object_name: table level1: furniture @@ -29,41 +29,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_books -video_url: ./assets/videos/AIRBOT_MMK2_place_the_books.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_books.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-20564 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 20564 @@ -72,282 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the book to one side of the table with one hand, and take it with the - other hand to put it on the bookshelf. +dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Push the book from right to left with the right gripper - Grasp the book with the left gripper @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -562,377 +138,3 @@ structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 116 - dataset_name: place_the_books - dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_book/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_books - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_books - dataset_uuid: null - task_descriptions: - - push the book to the left side of the table with your right hand, and take it - with your left hand to put it on the bookshelf. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: book - level1: office_supplies - level2: book - level3: null - level4: null - level5: null - - object_name: bookshelf - level1: container - level2: bookshelf - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 20564 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml index 19bb89c1d9b687441829955c46f82482cabb8a96..3df389e9a96215962ff517abadd2879710200067 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_building_blocks dataset_name: place_the_building_blocks -dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - open - hold -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_building_blocks -video_url: ./assets/videos/AIRBOT_MMK2_place_the_building_blocks.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_building_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-14173 dataset_size: 455.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 43 total_frames: 14173 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:42 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Put the red building blocks into one plate on the table and the green building - blocks into the other plate. +dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the green cuboid block into the plate with the right gripper @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,376 +138,3 @@ structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 118 - dataset_name: place_the_building_blocks - dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_building_block/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_building_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_building_blocks - dataset_uuid: null - task_descriptions: - - put the red building blocks into the plate on the table with your left hand - and the green building blocks into the plate with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - open - - hold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 43 - total_frames: 14173 - total_tasks: 1 - total_videos: 172 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:42 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_cake.yaml b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml index 561193290cfd12317d8c8041f67636c5ea3d7798..4a7d766c8f0f182bc5416b9d04ac7cfce795b463 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_cake.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_cake dataset_name: place_the_cake -dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the cake on the yellow cube block with the left gripper objects: - object_name: table level1: furniture @@ -58,41 +58,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_cake -video_url: ./assets/videos/AIRBOT_MMK2_place_the_cake.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_cake.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-50001 dataset_size: 2.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 249 total_frames: 50001 @@ -101,295 +69,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:248 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up one cake from the table and place it on the yellow cube, then pick - up another cake from the table and place it on the blue cube. - - Pick up one cake from the table and put it in the white lid, then pick up the ice - cream from the table and put it in the white lid, and finally pick up another cake - from the table and put it in the white lid. - - Pick up the cake and place it on the plate, then pick up that cake from the plate - and put it back on the table. - - Pick up one ice cream and put it in the small white basin, then pick up another - ice cream and put it in the small white basin. - - Pick up one swiss roll and put it on the plate, then pick up another swiss roll - and put it on the plate.' +dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cake on the yellow cube block with the left gripper - Grasp the bagged cake with the left gripper @@ -419,183 +104,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -616,418 +179,3 @@ structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 113 - dataset_name: place_the_cake - dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/snack_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_cake - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: snack_storage - dataset_uuid: null - task_descriptions: - - pick up the cake with your left hand and place it on the plate, then pick up - the cake from the plate with your right hand and put it on the table. - - pick up the cake on the table with your left hand and place it on the yellow - cube, and then pick up another cake on the table with your right hand and place - it on the blue cube. - - pick up the ice cream with your left hand and put it in the small white basin. - then, pick up another ice cream with your right hand and put it in the small - white basin. - - pick up the cake on the table with your left hand and put it in the white lid. - then, pick up the ice cream on the table with your right hand and put it in - the white lid. foodinally, pick up another cake on the table with your left - hand and put it in the white lid. - - pick up the swiss roll with your left hand and put it on the plate, then pick - up another swiss roll with your right hand and put it on the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - - object_name: ice_cream - level1: food - level2: ice_cream - level3: null - level4: null - level5: null - - object_name: small_basin - level1: container - level2: small_basin - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: swiss_roll - level1: food - level2: swiss_roll - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 249 - total_frames: 50001 - total_tasks: 5 - total_videos: 996 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:248 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml index 98b5ad88b2ef1d128caf1f08c76d27b2cdfd7873..9c9861e9f8b10b7c9845eb7720a5402c342a5a69 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_glasses_case_and_gold_bars dataset_name: place_the_glasses_case_and_gold_bars -dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the glasses case on the middle of the table with the left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_glasses_case_and_gold_bars -video_url: ./assets/videos/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10180 dataset_size: 412.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 10180 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Hold the glasses case in the middle of the table with one hand and place the - gold bar on it with your other hand. +dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the glasses case on the middle of the table with the left gripper - End @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,376 +138,3 @@ structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 106 - dataset_name: place_the_glasses_case_and_gold_bars - dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_glasses_case_and_the_gold_bar_are_stacked_together/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_glasses_case_and_gold_bars - dataset_uuid: null - task_descriptions: - - hold the glasses case in the middle of the table with your left hand and place - the gold bar on the glasses case with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: container - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gold_bar - level1: metal - level2: gold_bar - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 10180 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml index ffe562f37f4b127cf4d3a58e812573570a23bf37..54bc1855142a721bdb17d12c6ea1467452910fea 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_network_cable_and_mouse_box dataset_name: place_the_network_cable_and_mouse_box -dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the blue network cable with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_network_cable_and_mouse_box -video_url: ./assets/videos/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11195 dataset_size: 473.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 46 total_frames: 11195 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:45 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the mouse box and place it into the box, then pick up the blue network - cable and place it into the box. +dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the blue network cable with the right gripper - Place the blue network cable into carton with the right gripper @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,382 +144,3 @@ structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 125 - dataset_name: place_the_network_cable_and_mouse_box - dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_mouse_box_and_network_cable/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_network_cable_and_mouse_box - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_network_cable_and_mouse_box - dataset_uuid: null - task_descriptions: - - put the mouse box into the box with the left hand, and then put the blue network - cable into the box with the right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: network_cable - level1: tool - level2: network_cable - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 46 - total_frames: 11195 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:45 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml index a9958a0b342a046834cc5fdadc6ff724f9eabb9d..c961c71a6ac4ebfe8dc30a959f8bdfc33e10625d 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_paper_drawer dataset_name: place_the_paper_drawer -dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the pomegranate on the middle of the table with the right gripper objects: - object_name: table level1: furniture @@ -178,41 +178,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_paper_drawer -video_url: ./assets/videos/AIRBOT_MMK2_place_the_paper_drawer.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_paper_drawer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-167196 dataset_size: 5.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 688 total_frames: 167196 @@ -221,319 +189,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:687 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'pick up the steel frame with both hands and place it on the table. - - Take out two packs of vacuum paper from the white tray one after the other and place - them on the table. - - While picking up the calculator case with one hand, also pick up the power bank - case with the other hand, then place both items one after the other. - - Pick up the mineral water bottle and then the tape measure from the white lid and - place each one on the table. - - Hold the snacks and the box ruler and place them on the platform at the same time. - - Place the apple, then the peach, and finally the pear in their respective positions. - - Place the apple, then the pomegranate, and finally the orange in their respective - positions. - - Take out the drink and then the coffee cup from the white lid and place each one - on the table. - - Pick up the cake from the plate and place it on the table, then pick up the strip-shaped - bread from the table and put it on the plate. - - Take the building blocks and then the bb marbles from the plate and place each one - on the table. - - Take out the green cart and then the yellow cart from the plate and place each one - on the table. - - Push the pan to one side of the table and place it on the red cube. - - Take the mouse box and then the calculator box off the white cover. - - at the same time, both hands picked up the shark dagger on the table and placed - it on the white lid. - - Take the sponge and then the bowl out of the white lid and place each one on the - table.' +dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pomegranate on the middle of the table with the right gripper - Place the steel tube on the table with the left gripper @@ -613,183 +274,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -811,563 +350,3 @@ structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 110 - dataset_name: place_the_paper_drawer - dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/place_goods/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_paper_drawer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_goods - dataset_uuid: null - task_descriptions: - - take out a pack of tissue paper from the white tray with your left hand and - place it on the table. then, take out another pack of tissue paper from the - white tray with your right hand and place it on the table. - - while picking up the calculator box with the left hand, he also picked up the - power bank box with the right hand. then place your left hand first and then - your right hand. - - pick up the mineral water bottle on the white lid with your left hand and place - it on the table. then, pick up the tape measure on the white lid with your right - hand and put it on the table. - - hold the snacks in your left hand and the tape measure in your right hand, and - place them on the platform at the same time. - - place the apple on the left with your left hand, and then put the peach in the - middle with your left hand. finally, place the pear on the right side with your - right hand. - - place the apple on the left with your left hand, then put the pomegranate in - the middle with your right hand, and finally place the orange on the right with - your right hand. - - take out the beverage from the white lid with your left hand and place it on - the table. then, take out the coffee cup from the white lid with your right - hand and place it on the table. - - pick up the cake from the plate with your left hand and place it on the table. - then, with your right hand, pick up the coissant from the table and put it on - the plate. - - take the building blocks from the plate with your left hand and place them on - the table, then take the marble from the plate with your right hand and put - them on the table. - - take out the green car from the plate with your left hand and place it on the - table, then take out the yellow car from the plate with your right hand and - place it on the table. - - push the pan to the right side of the table with your left hand and place it - on the red cube with your right hand. - - take the mouse box off the white cover with your left hand, and then take the - calculator box off the white cover with your right hand. - - at the same time, both hands picked up the shark dagger on the table and placed - it on the white lid. - - take the sponge out of the white lid with your left hand and place it on the - table. then, take the bowl out of the white lid with your right hand and place - it on the table. - - pick up the steel frame with both hands and place it on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pallet - level1: container - level2: pallet - level3: null - level4: null - level5: null - - object_name: tissue_paper - level1: daily_necessities - level2: tissue_paper - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - - object_name: power_bank_box - level1: container - level2: power_bank_box - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: mineral_water_bottle - level1: container - level2: mineral_water_bottle - level3: null - level4: null - level5: null - - object_name: tape_measure - level1: tools - level2: tape_measure - level3: null - level4: null - level5: null - - object_name: snacks - level1: food - level2: snacks - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: croissant - level1: food - level2: croissant - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: pear - level1: fruit - level2: pear - level3: null - level4: null - level5: null - - object_name: pomegranate - level1: fruit - level2: pomegranate - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: beverage - level1: juice - level2: beverage - level3: null - level4: null - level5: null - - object_name: coffee - level1: juice - level2: coffee - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - - object_name: marble - level1: toy - level2: marble - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - - object_name: frying_pan - level1: container - level2: frying_pan - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: shark_dagger - level1: toy - level2: shark_dagger - level3: null - level4: null - level5: null - - object_name: sponge - level1: daily_necessities - level2: sponge - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: steel_frame - level1: daily_necessities - level2: steel_frame - level3: null - level4: null - level5: null - - object_name: red_cube - level1: block - level2: red_cube - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 688 - total_frames: 167196 - total_tasks: 15 - total_videos: 2752 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:687 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml index eb653f4a3cc4536e5940a00398eed0d5cf79bda9..0400fb061590e0b3b1b028656381941af269dfb7 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers dataset_name: place_the_piano_and_the_needle-nose_pliers -dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers -video_url: ./assets/videos/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25318 dataset_size: 826.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 25318 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Use one hand to pick up the piano and place it on the white lid, then use your - other hand to pick up the pointed nose pliers and place them on the white lid. +dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Static @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,383 +144,3 @@ structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 127 - dataset_name: place_the_piano_and_the_needle-nose_pliers - dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tools/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_hand_tapping_the_qin_and_the_long-nose_pliers - dataset_uuid: null - task_descriptions: - - use your left hand to pick up the hand tapping the qin and place it on the white - lid. then, use your right hand to pick up the long-nose pliers and place them - on the white lid. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: hand_tapping_the_qin - level1: toy - level2: hand_tapping_the_qin - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: long-nose_pliers - level1: tool - level2: long-nose_pliers - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 25318 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml index f7ff2944108d8ad392cd647e3cc1bca6846972d3..5f860302a0d51f6ea656fc892fb5fcc4134cb8dc 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife dataset_name: place_the_pliers_and_wallpaper_knife -dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife -video_url: ./assets/videos/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8236 dataset_size: 230.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 8236 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the pliers with one hand and place them in the white lid, then pick - up the wallpaper knife with your other hand and place it in the white lid. +dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - End @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,382 +144,3 @@ structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 132 - dataset_name: place_the_pliers_and_wallpaper_knife - dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tool_pliers_and_utility_knife/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_pliers_and_wallpaper_knife - dataset_uuid: null - task_descriptions: - - pick up the pliers with your left hand and place them in the white lid. then, - with your right hand, pick up the utility knife and place it in the white lid. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pliers - level1: tool - level2: pliers - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: utility_knife - level1: tool - level2: utility_knife - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 8236 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml index 2fa1aacc6aa16dccf58be07c3402a71e2852252b..29634d0ce51e943fe0c0a23424099a445fbd7b6e 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_shark_toys_and_gold_bars dataset_name: place_the_shark_toys_and_gold_bars -dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_shark_toys_and_gold_bars -video_url: ./assets/videos/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6486 dataset_size: 277.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 6486 @@ -77,283 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the shark doll with one hand and put it in the lid of the paper box, - then pick up the gold bar on the table with your other hand and put it in the lid - of the paper box. +dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the whale on the paper box with the left gripper @@ -370,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,383 +143,3 @@ structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 87 - dataset_name: place_the_shark_toys_and_gold_bars - dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/shark_doll_and_gold_bar_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_shark_toys_and_gold_bars - dataset_uuid: null - task_descriptions: - - pick up the shark doll with your left hand and put it in the lid of the paper - box. then, with your right hand, pick up the gold bar on the table and put it - in the lid of the paper box. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: shark_doll - level1: toy - level2: shark_doll - level3: null - level4: null - level5: null - - object_name: gold_bar - level1: metal - level2: gold_bar - level3: null - level4: null - level5: null - - object_name: paper_box_lid - level1: daily_necessities - level2: paper_box_lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 6486 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml index 8c82cdee8a32efc460e776dcad6e37589f58dc87..4239c05d39438450171b9aab3d873eaeb0fdc7ce 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_small_bowl_of_canned_food dataset_name: place_the_small_bowl_of_canned_food -dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_small_bowl_of_canned_food -video_url: ./assets/videos/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7610 dataset_size: 313.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 7610 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: The hand picked up the mini bowl of canned food from the table and placed it - on the mini table. +dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Abnormal @@ -361,183 +59,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -559,376 +135,3 @@ structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 93 - dataset_name: place_the_small_bowl_of_canned_food - dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_small_can_is_placed_on_the_small_table/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_small_bowl_of_canned_food - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_small_bowl_of_canned_food - dataset_uuid: null - task_descriptions: - - the right hand picked up the mini bowl of canned food from the table and placed - it on the mini table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mini_table - level1: furniture - level2: mini_table - level3: null - level4: null - level5: null - - object_name: small_bowl_of_canned_food - level1: food - level2: small_bowl_of_canned_food - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 7610 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml index f18e8d6267dfc35aa4df12bf0368a3f29411ae1b..b8f788beaf8153cf928c4afedc723a94d9285243 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_sponge_and_wet_wipes dataset_name: place_the_sponge_and_wet_wipes -dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the sponge with the left gripper objects: - object_name: table level1: furniture @@ -52,41 +52,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_sponge_and_wet_wipes -video_url: ./assets/videos/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10033 dataset_size: 390.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 90 total_frames: 10033 @@ -95,285 +63,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:89 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'pick up the sponge and wet wipes on the table with both hands and place them - in a white tray. - - Pick up the mouse box and the power bank box on the table with both hands simultaneously - and put them into the white lid.' +dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - 'Grasp the sponge with the left gripper ' - 'Place the sponge into the white basket with the left gripper ' @@ -395,183 +90,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -593,402 +166,3 @@ structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 102 - dataset_name: place_the_sponge_and_wet_wipes - dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/desktop_cleanup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_sponge_and_wet_wipes - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_sponge_and_wet_wipes - dataset_uuid: null - task_descriptions: - - pick up the sponge and wet wipes on the table with both hands and place them - in a white tray. - - Pick up the mouse box and the power bank box on the table with both hands simultaneously - and put them into the white lid. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: sponge - level1: daily_necessities - level2: sponge - level3: null - level4: null - level5: null - - object_name: wet_wipes - level1: daily_necessities - level2: wet_wipes - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: charging_power_bank_box - level1: container - level2: charging_power_bank_box - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 90 - total_frames: 10033 - total_tasks: 2 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:89 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml index b8fd93d4229cfb658f8e4e20da8c5183caacac8d..5179a3b5308337b62d1e75a3facbeff2ea8a94f6 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_umbrella_and_the_ruler dataset_name: place_the_umbrella_and_the_ruler -dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the umbrella with the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_umbrella_and_the_ruler -video_url: ./assets/videos/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7298 dataset_size: 242.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 42 total_frames: 7298 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:41 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the small umbrella with one hand and place it in the white lid, then - pick up the measuring ruler with your other hand and place it in the white lid. +dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the umbrella with the left gripper - Grasp the tape measure with the right gripper @@ -369,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,383 +143,3 @@ structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 133 - dataset_name: place_the_umbrella_and_the_ruler - dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tool_umbrella_and_measuring_tape/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_umbrella_and_the_ruler - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_umbrella_and_the_ruler - dataset_uuid: null - task_descriptions: - - pick up the small umbrella with your left hand and place it in the white lid. - then, with your right hand, pick up the tape measure and place it in the white - lid. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: umbrella - level1: tool - level2: umbrella - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: tape_measure - level1: tool - level2: tape_measure - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 42 - total_frames: 7298 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:41 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml index 0cc9a176f8beeca286886f5caf667eaf7d47d36b..79505fa02adce9df6c324a6a68712ec64f075070 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_place_the_yellow_block dataset_name: place_the_yellow_block -dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - lower -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_place_the_yellow_block -video_url: ./assets/videos/AIRBOT_MMK2_place_the_yellow_block.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_yellow_block.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10030 dataset_size: 501.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 10030 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the yellow square from the table onto the rubik's cube with one hand, - and use your other hand to take the yellow square from the rubik's cube to the table. +dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - End @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,377 +138,3 @@ structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 80 - dataset_name: place_the_yellow_block - dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/stack_blocks/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_yellow_block - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_yellow_block - dataset_uuid: null - task_descriptions: - - place the yellow square block on the table onto the rubik's cube with your left - hand, and use your right hand to take the yellow square block from the rubik's - cube to the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - lower - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: square_block - level1: toy - level2: square_block - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 10030 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml index eb38295fe6adbf53de8e22db631621ccc8ed37c8..52b9522954f692d3e2f75c06bcc8792c5a7b00b0 100644 --- a/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml +++ b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml @@ -1,15 +1,15 @@ +path: AIRBOT_MMK2_play_the_guitar dataset_name: play_the_guitar -dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place - pull -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Play ukulele with the right gripper objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_play_the_guitar -video_url: ./assets/videos/AIRBOT_MMK2_play_the_guitar.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_play_the_guitar.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8574 dataset_size: 360.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 8574 @@ -66,282 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: hold the small guitar in your lefthand, pluck the strings with your righthand, and - then put down the small guitar with your lefthand. +dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Play ukulele with the right gripper - End @@ -357,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -555,371 +131,3 @@ structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 94 - dataset_name: play_the_guitar - dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/play_the_small_guitar/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_play_the_guitar - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: play_the_guitar - dataset_uuid: null - task_descriptions: - - hold the small guitar in your left hand, pluck the strings with your right hand, and - then put down the small guitar with your left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: little_guitar - level1: musical_instrument - level2: little_guitar - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 8574 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_potato_storage.yaml b/dataset_info/AIRBOT_MMK2_potato_storage.yaml index a9fd74bb549367640423bca2228af42c1bfb9672..ab2b13c8c8ad974862b5962be02ea5a13b45cc3d 100644 --- a/dataset_info/AIRBOT_MMK2_potato_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_potato_storage.yaml @@ -1,15 +1,14 @@ +path: AIRBOT_MMK2_potato_storage dataset_name: potato_storage -dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_potato_storage -video_url: ./assets/videos/AIRBOT_MMK2_potato_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_potato_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6958 dataset_size: 252.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 6958 @@ -72,284 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Put the potato in the compartment on one side using the hand on that same - side. - - Put the potatoes in the compartment on one side using the hand on that same side.' +dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the potato into the left compartment of the storage box with the left gripper @@ -366,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -563,377 +136,3 @@ structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 111 - dataset_name: potato_storage - dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/potato_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_potato_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: potato_storage - dataset_uuid: null - task_descriptions: - - put the potato in the right compartment with your right hand. - - put the potatoes in the left compartment with your left hand. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: potato - level1: food - level2: potato - level3: null - level4: null - level5: null - - object_name: compartment - level1: container - level2: compartment - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 6958 - total_tasks: 2 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml index 508c86cf4d53dc39b627e89f52e84a89e72c4425..675b53036e710c50fac8b5d4594913b93092f863 100644 --- a/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml +++ b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_pour_out_the_beauty_blender dataset_name: pour_out_the_beauty_blender -dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the paper cup on the table with right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_pour_out_the_beauty_blender -video_url: ./assets/videos/AIRBOT_MMK2_pour_out_the_beauty_blender.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pour_out_the_beauty_blender.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-17577 dataset_size: 652.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 17577 @@ -77,281 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the cup and pour the beauty blender inside into the bowl. +dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the paper cup on the table with right gripper - Pour the bullets from the paper cup into the bowl with right gripper @@ -368,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -566,381 +143,3 @@ structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 115 - dataset_name: pour_out_the_beauty_blender - dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_beauty_blender/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pour_out_the_beauty_blender - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_out_the_marble - dataset_uuid: null - task_descriptions: - - pick up the cup with your right hand and pour the marble inside into the bowl. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: marble - level1: toy - level2: marble - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 17577 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml index dbe941495a22eceedea4e3175fb271c1acd21932..1a23b3aec3bdefdc97073aaaffccfa6b9d7a6bc9 100644 --- a/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml +++ b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_pull_the_syringe_piston dataset_name: pull_the_syringe_piston -dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_pull_the_syringe_piston -video_url: ./assets/videos/AIRBOT_MMK2_pull_the_syringe_piston.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pull_the_syringe_piston.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9990 dataset_size: 473.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9990 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the syringe with one hand, pull the piston away with the other hand, - and then place the syringe back on the table with the first hand. +dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the syringe with the left gripper @@ -359,183 +57,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -557,370 +133,3 @@ structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annota \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 78 - dataset_name: pull_the_syringe_piston - dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pull_the_syringe_piston/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pull_the_syringe_piston - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pull_the_syringe_piston - dataset_uuid: null - task_descriptions: - - pick up the syringe with your left hand, pull the piston away with your right - hand, and then place the syringe back on the table with your left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: syringe - level1: medical_supplies - level2: syringe - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9990 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml index 3edcb2ba1c15551e9d024371acd744036dc7af38..0646fca83d22b8f9ff5d518742ea7fa0c79d189e 100644 --- a/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_pumpkin_storage dataset_name: pumpkin_storage -dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_pumpkin_storage -video_url: ./assets/videos/AIRBOT_MMK2_pumpkin_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pumpkin_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12358 dataset_size: 462.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 12358 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Throw the pumpkin into the designated compartment with one hand, while keeping - your other hand still. +dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Grasp the pumpkin with the right gripper @@ -362,183 +60,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -560,376 +136,3 @@ structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 67 - dataset_name: pumpkin_storage - dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pumpkin_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pumpkin_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pumpkin_storage - dataset_uuid: null - task_descriptions: - - throw the pumpkin into the right compartment with your right hand, while keeping - your left hand still. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pumpkin - level1: food - level2: pumpkin - level3: null - level4: null - level5: null - - object_name: cubicle - level1: container - level2: cubicle - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 12358 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml index e63e4b0327c2f6134b5846db5249451939d44cf8..cbb8b29f92f97b1d342442872ae0803a5340698e 100644 --- a/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml @@ -1,12 +1,12 @@ +path: AIRBOT_MMK2_push_building_blocks dataset_name: push_building_blocks -dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 -scene_type: -- home -atomic_actions: -- push +robot_type: '' end_effector_type: - five_finger_hand -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- push +tasks: Abnormal objects: - object_name: table level1: furniture @@ -20,41 +20,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_push_building_blocks -video_url: ./assets/videos/AIRBOT_MMK2_push_building_blocks.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_push_building_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-40790 dataset_size: 1.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 139 total_frames: 40790 @@ -63,285 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:138 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Push the cylindrical block to one side of the cubic block. - - Push the dark blue and yellow blocks to the upper corner below the arched block. - - Push the arched block upwards.' +dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Move the green cylinder to the right side of the box with right gripper @@ -361,183 +56,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -559,370 +132,3 @@ structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 114 - dataset_name: push_building_blocks - dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/push_building_blocks/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_push_building_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: push_building_blocks - dataset_uuid: null - task_descriptions: - - push the cylindrical block to the right of the cubic block with your right hand. - - push the dark blue and yellow blocks to the upper right corner below the arched - block with your right hand. - - push the arched block upwards with your right hand. - scene_type: - - home - atomic_actions: - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 139 - total_frames: 40790 - total_tasks: 3 - total_videos: 556 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:138 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_push_piston.yaml b/dataset_info/AIRBOT_MMK2_push_piston.yaml index eecb3852a32f4ad4fbbfe269c2941e46f98b2415..deca9c496a9bc4649641b897eee2ecb18e46b167 100644 --- a/dataset_info/AIRBOT_MMK2_push_piston.yaml +++ b/dataset_info/AIRBOT_MMK2_push_piston.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_push_piston dataset_name: push_piston -dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_push_piston -video_url: ./assets/videos/AIRBOT_MMK2_push_piston.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_push_piston.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-15278 dataset_size: 598.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 15278 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the syringe with your left hand and push the syringe piston in with - your right hand. +dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Push the piston with the right gripper @@ -358,183 +56,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -555,370 +130,3 @@ structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 85 - dataset_name: push_piston - dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/push_piston/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_push_piston - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: push_piston - dataset_uuid: null - task_descriptions: - - hold the syringe on the table with your left hand and push the plunger with - your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: syringe - level1: medical_supplies - level2: syringe - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 15278 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml index 8eb6ae72fceaa867aaf2f38fbc64105a2ed7c72b..450f429aa56b34dd05076aab8793ef4aa8cab1c0 100644 --- a/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml +++ b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_screw_the_bottle_cap dataset_name: screw_the_bottle_cap -dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the bottle on the table with the left gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_screw_the_bottle_cap -video_url: ./assets/videos/AIRBOT_MMK2_screw_the_bottle_cap.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_screw_the_bottle_cap.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-16965 dataset_size: 632.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 16965 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the water bottle with one hand, twist off the cap with the other, and - place the bottle on the table. +dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the bottle on the table with the left gripper - Grasp the bottle with the left gripper @@ -357,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -555,370 +131,3 @@ structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 95 - dataset_name: screw_the_bottle_cap - dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/screw_the_bottle_cap/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_screw_the_bottle_cap - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: screw_the_bottle_cap - dataset_uuid: null - task_descriptions: - - pick up the water bottle with your left hand, twist off the cap with your right - hand, and place the water bottle on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 16965 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_square_arrangement.yaml b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml index c245e491706a2e96e7a227a10f5ad5cfc3d0182d..633d0ac5475fef6354aa89dec0e746db56f6a503 100644 --- a/dataset_info/AIRBOT_MMK2_square_arrangement.yaml +++ b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_square_arrangement dataset_name: square_arrangement -dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - lower -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the green cube block with the right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_square_arrangement -video_url: ./assets/videos/AIRBOT_MMK2_square_arrangement.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_square_arrangement.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6572 dataset_size: 308.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 6572 @@ -65,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the small cubes on each side simultaneously on the large cubes on the - same side. +dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the green cube block with the right gripper - Grasp the blue cube block with the left gripper @@ -356,183 +54,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -554,370 +130,3 @@ structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 81 - dataset_name: square_arrangement - dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/square_arrangement/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_square_arrangement - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: square_arrangement - dataset_uuid: null - task_descriptions: - - place the small cubes placed on the left and right sides simultaneously on the - corresponding large cubes on the left and right sides. - scene_type: - - home - atomic_actions: - - grasp - - pick - - lower - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: square - level1: toy - level2: square - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 6572 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml index 337bc28dc99c067063a89696f554493ff21a6a55..dd5d8bbb27ee4dc4465ee5deed95eb51a979ac4b 100644 --- a/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_stacking_blocks dataset_name: stacking_blocks -dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the yellow cube on the orange cube with the right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_stacking_blocks -video_url: ./assets/videos/AIRBOT_MMK2_stacking_blocks.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_stacking_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-52766 dataset_size: 2.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 213 total_frames: 52766 @@ -65,297 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:212 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red rectangular block from one side of the table with one hand - and place it in the center, then pick up the blue hexagonal wooden block from the - other side with your other hand and place it on top of the red block. - - Move the large block from one side to the center with one hand, and stack the small - blocks on top of it with your other hand. - - Pick up a block from the table with one hand and place it on the blocks, then pick - up another block from the table with your other hand and place it on the blocks. - - Pick up the blue cube from one side of the table with one hand and place it on top - of the yellow cube in the middle, then pick up the green cube from the other side - with your other hand and place it on top of the blue cube. - - Pick up the blue cube from the table with one hand and place it on the small table, - then pick up the red cube from the table with your other hand and place it on top - of the blue cube.' +dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the yellow cube on the orange cube with the right gripper - Static @@ -390,183 +73,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -588,384 +149,3 @@ structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 112 - dataset_name: stacking_blocks - dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/stack_building_blocks/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_stacking_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: stacking_blocks - dataset_uuid: null - task_descriptions: - - use your left hand to move the large block on the left side to the center, and - use your right hand to stack the small blocks on top of the large block. - - use your left hand to pick up a block from the table and place it on the blocks. - use your right hand to pick up another block from the table and place it on - the blocks. - - use your left hand to pick up the blue cube from the left side of the table - and place it on top of the yellow cube in the middle of the table. use your - right hand to pick up the green cube from the right side of the table and place - it on top of the blue cube. - - pick up the blue cube from the table with your left hand and place it on the - small table. then, pick up the red cube from the table with your right hand - and place it on top of the blue cube. - - use your left hand to pick up the red rectangular block on the left side of - the table and place it in the center of the table. use your right hand to pick - up the blue hexagonal wooden block on the right side of the table and place - it on top of the red rectangular block. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 213 - total_frames: 52766 - total_tasks: 5 - total_videos: 852 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:212 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml index 1a04aa7d015a25c45da398d16db7df0545f67be3..026d93ef4b9be577335ef84aa964730b929d06d9 100644 --- a/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_box_for_mouse_and_sponge dataset_name: storage_box_for_mouse_and_sponge -dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the sponge with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_box_for_mouse_and_sponge -video_url: ./assets/videos/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9471 dataset_size: 299.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 9471 @@ -77,281 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the mouse box and the sponge in the round plate using one hand. +dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the sponge with the right gripper - Static @@ -369,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,382 +144,3 @@ structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 68 - dataset_name: storage_box_for_mouse_and_sponge - dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/goods_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_box_for_mouse_and_sponge - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_box_for_mouse_and_sponge - dataset_uuid: null - task_descriptions: - - place the mouse box in the round plate with your left hand, put the sponge in - the round plate with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: sponge - level1: daily_necessities - level2: sponge - level3: null - level4: null - level5: null - - object_name: round_plate - level1: container - level2: round_plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 9471 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml index 1e55e3c98f7e03a5fa1a72704c2f99c18e6fb0be..3a42156b07ec6036b48cab4df77d838121bc8968 100644 --- a/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_computer_box dataset_name: storage_computer_box -dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the calculator box into the white basket with the right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_computer_box -video_url: ./assets/videos/AIRBOT_MMK2_storage_computer_box.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_computer_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10024 dataset_size: 363.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 10024 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the computer box from the table with one hand and transfer it to the other, - then place it inside the white lid. +dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the calculator box into the white basket with the right gripper - Deliver the calculator box from left gripper to right gripper @@ -361,183 +59,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -559,377 +135,3 @@ structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 119 - dataset_name: storage_computer_box - dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_computer_box/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_computer_box - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_calculator_box - dataset_uuid: null - task_descriptions: - - take the calculator box from the table with your left hand and pass it to your - right hand. take the computer box with your right hand and place it inside the - white lid. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: calculator_box - level1: container - level2: calculator_box - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 10024 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml index 12aea1129fd6a1ff6f6b0be0263826f7a13ab1ee..770db9ee4dd43e7887478425afa1901285ee64e6 100644 --- a/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges dataset_name: storage_for_building_blocks_and_beauty_sponges -dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Graasp the bullet on the plate and with the left gripper objects: - object_name: table level1: furniture @@ -58,41 +58,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges -video_url: ./assets/videos/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-33906 dataset_size: 1.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 150 total_frames: 33906 @@ -101,290 +69,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:149 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Take the sponge out of the plate with one hand and place it on the table, - then pick up the mouse box from the table with your other hand and place it on the - plate. - - Take the drink out of the plate with one hand and place it on the table, then pick - up the wet wipes from the table with your other hand and place them on the plate. - - Take the beauty blender out of the plate with one hand and place it on the table, - then pick up the building blocks from the table with your other hand and place them - on the plate.' +dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Graasp the bullet on the plate and with the left gripper - Abnormal @@ -410,183 +100,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -608,413 +176,3 @@ structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hard \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 109 - dataset_name: storage_for_building_blocks_and_beauty_sponges - dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/plate_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_for_building_blocks_and_beauty_sponges - dataset_uuid: null - task_descriptions: - - take the plastic bullets out of the plate with your left hand and place it on - the table; pick up the building blocks from the table with your right hand and - place them on the plate. - - take the sponge out of the plate with your left hand and place it on the table. - pick up the mouse box from the table with your right hand and place it on the - plate. - - take the drink out of the plate with your left hand and place it on the table. - pick up the wet wipes from the table with your right hand and place them on - the plate. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bullets - level1: toy - level2: plastic_bullets - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - - object_name: sponge - level1: daily_necessities - level2: sponge - level3: null - level4: null - level5: null - - object_name: mouse_box - level1: container - level2: mouse_box - level3: null - level4: null - level5: null - - object_name: beverage - level1: juice - level2: beverage - level3: null - level4: null - level5: null - - object_name: wet_wipes - level1: daily_necessities - level2: wet_wipes - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 150 - total_frames: 33906 - total_tasks: 3 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:149 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_item.yaml b/dataset_info/AIRBOT_MMK2_storage_item.yaml index a9fd7f00d05c9330a003fe54168986022543cbb5..28375b37af4d983096651008b513f2f6bec2581d 100644 --- a/dataset_info/AIRBOT_MMK2_storage_item.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_item.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_item dataset_name: storage_item -dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the green rectangular block into the blue bowl with the left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_item -video_url: ./assets/videos/AIRBOT_MMK2_storage_item.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_item.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8573 dataset_size: 357.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 8573 @@ -83,283 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the building blocks from the table with one hand and place them in - the bowl, then pick up the tape measure from the table with your other hand and - place it in the small tray. +dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the green rectangular block into the blue bowl with the left gripper - Place the tape measure into the pink plate with the right gripper @@ -377,183 +74,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -574,389 +148,3 @@ structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 72 - dataset_name: storage_item - dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/summarize_items/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_item - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_item - dataset_uuid: null - task_descriptions: - - pick up the building blocks on the table with your left hand and place them - in the bowl; pick up the tape measure from the table with your right hand and - place it in the small tray. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: tape_measure - level1: tool - level2: tape_measure - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 8573 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml index cf6a9f8e976c123718aa1ff0520fb198eec5b6e3..3d95839dbba4bab18e9e9942abc71af0add3a732 100644 --- a/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle dataset_name: storage_remote_control_clip_box_water_bottle -dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the water bottle into the cardboard box with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle -video_url: ./assets/videos/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9890 dataset_size: 478.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 9890 @@ -77,283 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: At the same time as picking up the remote control gripper with one hand, the - other hand picks up the mineral water bottle; the first hand then puts its item - into the box, followed by the other hand doing the same. +dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the water bottle into the cardboard box with the right gripper - End @@ -373,183 +70,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -571,383 +146,3 @@ structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardli \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 123 - dataset_name: storage_remote_control_clip_box_water_bottle - dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_remote_control_gripper_and_mineral_water_bottle/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_remote_control_clip_box_water_bottle - dataset_uuid: null - task_descriptions: - - at the same time as picking up the remote control gripper with the left hand, - the right hand picks up the mineral water bottle. the left hand then puts it - into the box, then the right hand does the same. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: remote_control_gripper - level1: tool - level2: remote_control_gripper - level3: null - level4: null - level5: null - - object_name: mineral_water_bottle - level1: container - level2: mineral_water_bottle - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 9890 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml index 0b086814d5d035fb6286fd360a51017f0598f8df..0fa2d6ec31a3ba7ca8a1ffffb4408c205ec3a37f 100644 --- a/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_rubiks_cube_and_cup dataset_name: storage_rubiks_cube_and_cup -dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_rubiks_cube_and_cup -video_url: ./assets/videos/AIRBOT_MMK2_storage_rubiks_cube_and_cup.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_rubiks_cube_and_cup.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13979 dataset_size: 392.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 13979 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: One hand places the rubik's cube onto the circular tray while the other places - the paper cup on top of it. +dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the paper cup on the magic cube with the left gripper @@ -369,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,382 +143,3 @@ structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 124 - dataset_name: storage_rubiks_cube_and_cup - dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_rubiks_cube_and_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_rubiks_cube_and_cup - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_rubiks_cube_and_cup - dataset_uuid: null - task_descriptions: - - the right hand places the rubik's cube onto the circular tray, the left hand - places the paper cup on top of the rubik's cube. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: circular_tray - level1: container - level2: circular_tray - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: container - level2: paper_cup - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 13979 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_spoon.yaml b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml index e77eeafb6a534f7bdff74ad67c06b14df413e9ce..ef162aba4fcb78ab994c777ac5b71fc319a7bc86 100644 --- a/dataset_info/AIRBOT_MMK2_storage_spoon.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_spoon dataset_name: storage_spoon -dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_spoon -video_url: ./assets/videos/AIRBOT_MMK2_storage_spoon.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_spoon.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12204 dataset_size: 363.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 12204 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take a spoon in one hand and put it into the basin, then take another spoon - in your other hand and put it into the basin. +dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Grasp the spoon with the right gripper @@ -363,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -560,376 +136,3 @@ structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 126 - dataset_name: storage_spoon - dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_spoon/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_spoon - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_spoon - dataset_uuid: null - task_descriptions: - - take use your left hand to put a spoon into the basin, and then use your right - hand to put another spoon into the basin. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: basin - level1: container - level2: basin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 12204 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml index 13347a057b9faa34ec3011639cbcb9d5457d4ee1..408ef72866b8406d06744ec70a1225bbbfe1ddb9 100644 --- a/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_tissue_and_milk_carton dataset_name: storage_tissue_and_milk_carton -dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_tissue_and_milk_carton -video_url: ./assets/videos/AIRBOT_MMK2_storage_tissue_and_milk_carton.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_tissue_and_milk_carton.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9751 dataset_size: 338.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 9751 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the tissue paper on the white lid with one hand, and with the other hand, - put the milk carton with the straw on top of the white lid. +dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Grasp the tissue with the left gripper @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,382 +144,3 @@ structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 128 - dataset_name: storage_tissue_and_milk_carton - dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tissue_and_milk_carton/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_tissue_and_milk_carton - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_tissue_and_milk_carton - dataset_uuid: null - task_descriptions: - - place the tissue paper on the white lid with your left hand, using your right - hand, put the milk carton with the straw on top of the white lid. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tissue_paper - level1: daily_necessities - level2: tissue_paper - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: milk_carton - level1: container - level2: milk_carton - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 9751 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml index 1e99808142febaa7898f968d2e935e668ce6f9bf..73f81e6a1c769f867c0cb380293be0204b70d87e 100644 --- a/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_tissue_paper dataset_name: storage_tissue_paper -dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_tissue_paper -video_url: ./assets/videos/AIRBOT_MMK2_storage_tissue_paper.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_tissue_paper.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6980 dataset_size: 211.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 6980 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up one pack of tissue paper from the table and place it in the basin, - then pick up another pack from the table and place it in the basin. +dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Place the tissue into the brown basin with the left gripper @@ -364,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,377 +138,3 @@ structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 129 - dataset_name: storage_tissue_paper - dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tissue_paper/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_tissue_paper - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_tissue_paper - dataset_uuid: null - task_descriptions: - - pick up the tissue paper from the table with your left hand and place it in - the basin. then, pick up another pack of tissue paper from the table with your - right hand and place it in the basin. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tissue_paper - level1: daily_necessities - level2: tissue_paper - level3: null - level4: null - level5: null - - object_name: basin - level1: container - level2: basin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 6980 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml index 4edc5d4e9e30017e7bd16af5b8699162640bca1e..dc8f3f1528fc9e7d333deff54d1bc3bea83ddeb1 100644 --- a/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_toy_cars_and_cookies dataset_name: storage_toy_cars_and_cookies -dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_toy_cars_and_cookies -video_url: ./assets/videos/AIRBOT_MMK2_storage_toy_cars_and_cookies.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_toy_cars_and_cookies.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8388 dataset_size: 277.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 8388 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the red toy car in one hand and the blue packaged cookies in the other, - then place both items on the round lid. +dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the cookies on the pink plate with the right gripper @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,383 +144,3 @@ structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── a \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 130 - dataset_name: storage_toy_cars_and_cookies - dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_toy_cars_and_cookies/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_toy_cars_and_cookies - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_toy_cars_and_cookies - dataset_uuid: null - task_descriptions: - - with the left hand, pick up the red toy car and with the right hand, pick up - the blue packaged cookies, with the left hand, place the red toy car on the - round lid, with the right hand, put the blue packaged cookies on the round lid. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - - object_name: cookies - level1: food - level2: cookies - level3: null - level4: null - level5: null - - object_name: lid - level1: daily necessities - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 8388 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml index 4eff5dd6abb2fe8b9e407937e6aaae0d542b56d3..0f151183c7513225417461ccb8f9d99af755a48f 100644 --- a/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_storage_wet_tissue_and_building_block dataset_name: storage_wet_tissue_and_building_block -dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the arch-shaped block on the white board with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_storage_wet_tissue_and_building_block -video_url: ./assets/videos/AIRBOT_MMK2_storage_wet_tissue_and_building_block.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_wet_tissue_and_building_block.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11526 dataset_size: 335.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 11526 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Put the wet wipes into the white platform with one hand, and place the arched - building blocks into the white platform with the other hand. +dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the arch-shaped block on the white board with the right gripper - Grasp the wet wipe with the left gripper @@ -369,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,383 +143,3 @@ structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 131 - dataset_name: storage_wet_tissue_and_building_block - dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_wet_wipes - _and _arched _building _blocks/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_wet_tissue_and_building_block - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_wet_tissue_and_building_block - dataset_uuid: null - task_descriptions: - - put the wet wipes into the white platform with your left hand, place the arched - building blocks into the white platform with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: wet_tissue - level1: tool - level2: wet_tissue - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - - object_name: platform - level1: container - level2: platform - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 11526 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml index c6496c0754331672c24e765410db7e669efa72c9..8e99731673257a13d1e6b0bdfcd254cfbf1fd21c 100644 --- a/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_store_beauty_blender_and_building_blocks dataset_name: store_beauty_blender_and_building_blocks -dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the green cuboid block with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_store_beauty_blender_and_building_blocks -video_url: ./assets/videos/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9178 dataset_size: 300.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9178 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Throw the beauty blender into the bowl with one hand, and then throw the building - blocks into the bowl with the other hand. +dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the green cuboid block with the right gripper - Place the bullet into the bowl with the left gripper @@ -369,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,382 +143,3 @@ structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 121 - dataset_name: store_beauty_blender_and_building_blocks - dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_items/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_beauty_blender_and_building_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: store_marble_and_building_blocks - dataset_uuid: null - task_descriptions: - - throw the marble into the bowl with your left hand, and then throw the building - blocks into the bowl with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: marble - level1: toy - level2: marble - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9178 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml index 9c1b6fb3d02b9845c2bc08e26e433791b3aa26f7..bc9437f3cdac0f9dde85d1c639965bfd8ff756e0 100644 --- a/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml +++ b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_store_coffee_cups dataset_name: store_coffee_cups -dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the cup the right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_store_coffee_cups -video_url: ./assets/videos/AIRBOT_MMK2_store_coffee_cups.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_coffee_cups.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11166 dataset_size: 444.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 11166 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up a coffee cup with one hand and place it in the basin; then pick up - another coffee cup with your other hand and place it in the basin. +dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the cup the right gripper - place the cup in the basin use the left gripper @@ -362,183 +60,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -560,376 +136,3 @@ structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 70 - dataset_name: store_coffee_cups - dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/store_coffee_cups/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_coffee_cups - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: store_coffee_cups - dataset_uuid: null - task_descriptions: - - pick up a coffee cup with your left hand and place it in the basin; pick up - another coffee cup with your right hand and place it in the basin. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: coffee_cup - level1: container - level2: coffee_cup - level3: null - level4: null - level5: null - - object_name: basin - level1: container - level2: basin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 11166 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml index 2945d129a2ff4930eb721870efdd378bcc850d2b..9f8bbaa478717885e454f2234846687931d68191 100644 --- a/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml +++ b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml @@ -1,14 +1,15 @@ +path: AIRBOT_MMK2_store_peaches_and_pears dataset_name: store_peaches_and_pears -dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the pear into the right compartment of the storage box with the right + gripper objects: - object_name: table level1: furniture @@ -34,41 +35,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_store_peaches_and_pears -video_url: ./assets/videos/AIRBOT_MMK2_store_peaches_and_pears.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_peaches_and_pears.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11276 dataset_size: 343.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 11276 @@ -77,282 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: One hand throws the peach into one compartment while the other hand throws - the pear into the other compartment. +dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pear into the right compartment of the storage box with the right gripper - Place the peach into the left compartment of the storage box with the left gripper @@ -369,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,381 +144,3 @@ structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annota \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 122 - dataset_name: store_peaches_and_pears - dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_peaches_and_pears/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_peaches_and_pears - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: store_peaches_and_pears - dataset_uuid: null - task_descriptions: - - the left hand throws the peach into the left compartment, the right hand throws - the pear into the right compartment. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: peache - level1: fruit - level2: peache - level3: null - level4: null - level5: null - - object_name: pear - level1: fruit - level2: pear - level3: null - level4: null - level5: null - - object_name: compartment - level1: container - level2: compartment - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 11276 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml index dc864b8c9a78176f6fe6d662ff10a8002649af9d..cc827376536085c4643c2f8835cefc5408cfcdc5 100644 --- a/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml +++ b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_store_pomegranates_and_mangoes dataset_name: store_pomegranates_and_mangoes -dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp a mango with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_store_pomegranates_and_mangoes -video_url: ./assets/videos/AIRBOT_MMK2_store_pomegranates_and_mangoes.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_pomegranates_and_mangoes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13755 dataset_size: 495.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 44 total_frames: 13755 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:43 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: One hand throws the pomegranate into one compartment while the other hand throws - the mango into the other compartment. +dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp a mango with the right gripper - Place the pomegranate into the left compartment of the storage box with the left @@ -370,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,382 +144,3 @@ structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 74 - dataset_name: store_pomegranates_and_mangoes - dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/separate_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_pomegranates_and_mangoes - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: store_pomegranates_and_mangoes - dataset_uuid: null - task_descriptions: - - the left hand throws the pomegranate into the left compartment, the right hand - throws the mango into the right compartment. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pomegranate - level1: fruit - level2: pomegranate - level3: null - level4: null - level5: null - - object_name: compartment - level1: container - level2: compartment - level3: null - level4: null - level5: null - - object_name: mango - level1: fruit - level2: mango - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 44 - total_frames: 13755 - total_tasks: 1 - total_videos: 176 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:43 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml index ae3a8c8baa847c2cefe39808f42eeef0b343a5b8..45a35d2415077ec8d0c0986e5945d8c0e1ad637c 100644 --- a/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml +++ b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_store_wet_wipes_and_bowls dataset_name: store_wet_wipes_and_bowls -dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - open - hold -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the bowl on the plate with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_store_wet_wipes_and_bowls -video_url: ./assets/videos/AIRBOT_MMK2_store_wet_wipes_and_bowls.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_wet_wipes_and_bowls.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13058 dataset_size: 425.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 13058 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the large blue bowl on the square plate with one hand and put the wet - wipes into the bowl with the other. +dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the bowl on the plate with the right gripper - Static @@ -369,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,382 +143,3 @@ structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 117 - dataset_name: store_wet_wipes_and_bowls - dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_bowl_and_wet_tissue/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_wet_wipes_and_bowls - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: store_wet_wipes_and_bowls - dataset_uuid: null - task_descriptions: - - with the right hand, place the large blue bowl on the square plate, with the - left hand, put the wet wipes into the blue bowl. - scene_type: - - home - atomic_actions: - - grasp - - open - - hold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: wet_tissue - level1: daily_necessities - level2: wet_tissue - level3: null - level4: null - level5: null - - object_name: square_plate - level1: container - level2: square_plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 13058 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml index 93d9160fb5f5e152293a8af4a83e0a9117130a2e..78b833063ecbb9fa04e9b8a47627f133d8e352a5 100644 --- a/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml +++ b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_take_down_paper_cup dataset_name: take_down_paper_cup -dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_take_down_paper_cup -video_url: ./assets/videos/AIRBOT_MMK2_take_down_paper_cup.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_down_paper_cup.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7169 dataset_size: 224.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 46 total_frames: 7169 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:45 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the white paper cup off the white lid with one hand and the other white - paper cup off with your other hand. +dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - place the cup in the table use the right gripper @@ -363,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -561,377 +137,3 @@ structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 76 - dataset_name: take_down_paper_cup - dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/dataset_name - take_down_paper_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_down_paper_cup - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_down_paper_cup - dataset_uuid: null - task_descriptions: - - take the white coffee cup off the white lid with your left hand and the other - coffee paper cup off with your right hand. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: coffee_cup - level1: container - level2: coffee_cup - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 46 - total_frames: 7169 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:45 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml index 6c33f178635e6ae303345344cac39b195876d184..bb7493ad44cd2fc8d99f0517a749faef7436d09c 100644 --- a/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml +++ b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_take_down_umbrella_and_mineral_water dataset_name: take_down_umbrella_and_mineral_water -dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the cake on the table with the left gripper objects: - object_name: table level1: furniture @@ -64,41 +64,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_take_down_umbrella_and_mineral_water -video_url: ./assets/videos/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-31517 dataset_size: 1.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 212 total_frames: 31517 @@ -107,293 +75,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:211 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'pick up the blue and green cubes from the lid of the paper box simultaneously - with both hands and place them on the table. - - Use one hand to take the white umbrella off the white lid and then use your other - hand to take the mineral water off the white lid. - - Take the vitamin b water off the white cap with one hand, and then take another - vitamin b water off the white cap with your other hand. - - Take out the yellow egg with one hand. - - take the two black cakes out of the white box simultaneously with both hands and - place them on the table.' +dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cake on the table with the left gripper - Place the mineral water on the table with the left gripper @@ -425,183 +112,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -623,419 +188,3 @@ structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 137 - dataset_name: take_down_umbrella_and_mineral_water - dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/take_goods/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_down_umbrella_and_mineral_water - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_down_umbrella_and_mineral_water - dataset_uuid: null - task_descriptions: - - use your right hand to take the white umbrella off the white lid then use your - left hand to take the mineral water off the white lid. - - take the vitamin b water off the white cap with your left hand, and then take - another vitamin b water off the white cap with your right hand. - - take out the yellow egg with your right hand. - - take the two black cakes out of the white box simultaneously with both hands - and place them on the table. - - pick up the blue and green cubes from the lid of the paper box simultaneously - with both hands and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: umbrella - level1: tool - level2: umbrella - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: drink - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: vitamin_b_water - level1: beverage - level2: vitamin_b_water - level3: null - level4: null - level5: null - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 212 - total_frames: 31517 - total_tasks: 5 - total_videos: 848 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:211 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_the_book.yaml b/dataset_info/AIRBOT_MMK2_take_the_book.yaml index ae702e5ed0d10e06bba7f12fbf733e472b11903c..3ac72ab0d68d6852baeb1a85edfef1282d7018a4 100644 --- a/dataset_info/AIRBOT_MMK2_take_the_book.yaml +++ b/dataset_info/AIRBOT_MMK2_take_the_book.yaml @@ -1,12 +1,12 @@ +path: AIRBOT_MMK2_take_the_book dataset_name: take_the_book -dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 -scene_type: -- home -atomic_actions: -- pick +robot_type: '' end_effector_type: - five_finger_hand -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- pick +tasks: Lay the book down with the right gripper objects: - object_name: table level1: furniture @@ -26,41 +26,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_take_the_book -video_url: ./assets/videos/AIRBOT_MMK2_take_the_book.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_the_book.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9314 dataset_size: 352.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 79 total_frames: 9314 @@ -69,283 +37,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:78 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'A hand''s index finger hooked the book "century" off the bookshelf. - - A hand''s index finger hooked the book "letitbe" off the bookshelf.' +dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Lay the book down with the right gripper - Hold the book with the right gripper @@ -360,183 +57,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -557,374 +132,3 @@ structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 136 - dataset_name: take_the_book - dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/take_the_book/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_the_book - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_the_book - dataset_uuid: null - task_descriptions: - - the index finger of the right hand hooked the book "century" off the bookshelf. - - the index finger of the right hand hooked the book "letitbe" off the bookshelf. - scene_type: - - home - atomic_actions: - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bookshelf - level1: container - level2: bookshelf - level3: null - level4: null - level5: null - - object_name: book - level1: stationery - level2: book - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 79 - total_frames: 9314 - total_tasks: 2 - total_videos: 316 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:78 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml index ccb0a6e082be61680a722d00199de723d950c286..d9ea9b04b14d4d7aaf62120f0fc0477a6902323a 100644 --- a/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml +++ b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_the_cup_is_put_into_the_bucket dataset_name: the_cup_is_put_into_the_bucket -dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - open - hold -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Lift the cup the right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_the_cup_is_put_into_the_bucket -video_url: ./assets/videos/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9335 dataset_size: 369.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9335 @@ -71,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the same white paper cup in each hand and put one cup into the yellow - bucket, then put the other cup in. +dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Lift the cup the right gripper - Static @@ -365,183 +63,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -563,376 +139,3 @@ structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 120 - dataset_name: the_cup_is_put_into_the_bucket - dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_the_cup_is_put_into_the_bucket - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: the_cup_is_put_into_the_bucket - dataset_uuid: null - task_descriptions: - - take the same white paper cup in both hands. put the left hand's cup into the - yellow bucket, then put the right hand's cup in. - scene_type: - - home - atomic_actions: - - grasp - - open - - hold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: container - level2: paper_cup - level3: null - level4: null - level5: null - - object_name: bucket - level1: container - level2: bucket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - discover_robotics_aitbot_mmk2 - end_effector_type: two_finger_gripper - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9335 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_toy_storage.yaml b/dataset_info/AIRBOT_MMK2_toy_storage.yaml index 83bd1d432b8247c0ba09171d4fc3fbaca41b7d53..d19e656d5402eb2d2c26f9628a0611d5d3cf6511 100644 --- a/dataset_info/AIRBOT_MMK2_toy_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_toy_storage.yaml @@ -1,14 +1,14 @@ +path: AIRBOT_MMK2_toy_storage dataset_name: toy_storage -dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the whale with the left gripper objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: AIRBOT_MMK2_toy_storage -video_url: ./assets/videos/AIRBOT_MMK2_toy_storage.mp4 -thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_toy_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-28709 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 199 total_frames: 28709 @@ -89,292 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:198 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'with both hands, picked up the little dog doll on the white plate and placed - it on the table. - - One hand picked up the shark doll from the table and passed it to the other hand, - which then placed it in the white lid. - - Use one hand to pick up a building block and place it in the pink plate on one side, - and use the other hand to put the remaining building block into the white plate - on the opposite side. - - with both hands, he picked up the shark doll on the table and placed it in the white - lid.' +dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the whale with the left gripper - End @@ -396,183 +84,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -593,401 +158,3 @@ structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 134 - dataset_name: toy_storage - dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 - device_model: Airbot_MMK2 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/toy_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_toy_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: toy_storage - dataset_uuid: null - task_descriptions: - - with both hands, picked up the little dog doll on the white plate and placed - it on the table. - - the left hand picked up the shark doll on the table and handed it to the right - hand, the right hand took the shark doll and placed it in the white lid. - - use your left hand to pick up the building block and place it in the pink plate - on the left, and use your right hand to put the other building block into the - white plate on the right. - - with both hands, he picked up the shark doll on the table and placed it in the - white lid. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: little_dog_doll - level1: toy - level2: little_dog_doll - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: shark_doll - level1: toy - level2: shark_doll - level3: null - level4: null - level5: null - - object_name: lid - level1: container - level2: lid - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - airbot mmk2 - end_effector_type: five_finger_hand - meta: - robot_type: discover_robotics_aitbot_mmk2 - codebase_version: v2.1 - statistics: - total_episodes: 199 - total_frames: 28709 - total_tasks: 4 - total_videos: 796 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:198 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_battery_storage_b.yaml b/dataset_info/AgiBot-g1_battery_storage_b.yaml index 9c1defa96fdcab4935c0af4acc3c06640fd0f2a9..515c229dc6b30f785057e6e6ad9b0980ffd63b49 100644 --- a/dataset_info/AgiBot-g1_battery_storage_b.yaml +++ b/dataset_info/AgiBot-g1_battery_storage_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_battery_storage_b dataset_name: battery_storage_b -dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the power supply on the operating table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_battery_storage_b -video_url: ./assets/videos/AgiBot-g1_battery_storage_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_battery_storage_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-57968 dataset_size: 29.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 115 total_frames: 57968 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:114 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the batteries in the box on the table. +dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 478 - dataset_name: battery_storage_b - dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/20_备料区场景4/376/A2D0015AC00476/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_battery_storage_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: battery_storage_b - dataset_uuid: null - task_descriptions: - - put the battery from the box onto the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: battery - level1: electronic_products - level2: battery - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 115 - total_frames: 57968 - total_tasks: 1 - total_videos: 920 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:114 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_battery_storage_c.yaml b/dataset_info/AgiBot-g1_battery_storage_c.yaml index 0c0bf361d4cbf0db5fb2760dc96dbd87e87924a4..f35483f0638d02b64607b20e7029daf09dc805a0 100644 --- a/dataset_info/AgiBot-g1_battery_storage_c.yaml +++ b/dataset_info/AgiBot-g1_battery_storage_c.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_battery_storage_c dataset_name: battery_storage_c -dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_battery_storage_c -video_url: ./assets/videos/AgiBot-g1_battery_storage_c.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_battery_storage_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-34166 dataset_size: 18.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 57 total_frames: 34166 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:56 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the batteries in the box on the table. +dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grab and lift the power supply from the large box. @@ -475,274 +60,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -776,489 +160,3 @@ structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 476 - dataset_name: battery_storage_c - dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/21_备料区场景5/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_battery_storage_c - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: battery_storage_c - dataset_uuid: null - task_descriptions: - - place the batteries in the box on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: battery - level1: electronic_products - level2: battery - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 57 - total_frames: 34166 - total_tasks: 1 - total_videos: 456 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:56 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_a.yaml b/dataset_info/AgiBot-g1_box_storage_a.yaml index cc95bfffeb9b79c18852a5e7c47b3b042ff33003..a2ead48aeeea2ab9cd4cb8c921dd9d527ec6d61a 100644 --- a/dataset_info/AgiBot-g1_box_storage_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_a dataset_name: box_storage_a -dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_a -video_url: ./assets/videos/AgiBot-g1_box_storage_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-11770 dataset_size: 4.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 21 total_frames: 11770 @@ -65,395 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:20 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the box on the table into the big box. +dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -466,274 +51,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -766,483 +149,3 @@ structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 472 - dataset_name: box_storage_a - dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/22_下料区场景7/389/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 21 - yaml: - dataset_name: box_storage_a - dataset_uuid: null - task_descriptions: - - put the box on the table into the big box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 21 - total_frames: 11770 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:20 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_b.yaml b/dataset_info/AgiBot-g1_box_storage_b.yaml index b35de4eb69ef2a44b848e38e536bc76def7fd14a..59cd03741af0991f95f1683c1a0f86c3d241f7b9 100644 --- a/dataset_info/AgiBot-g1_box_storage_b.yaml +++ b/dataset_info/AgiBot-g1_box_storage_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_b dataset_name: box_storage_b -dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_b -video_url: ./assets/videos/AgiBot-g1_box_storage_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-49301 dataset_size: 19.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 96 total_frames: 49301 @@ -65,395 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:95 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the box on the table into the big box. +dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -466,274 +51,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -766,483 +149,3 @@ structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 473 - dataset_name: box_storage_b - dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/24_下料区场景6/388/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_b - dataset_uuid: null - task_descriptions: - - put the box on the table into the big box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 96 - total_frames: 49301 - total_tasks: 1 - total_videos: 768 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:95 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_c.yaml b/dataset_info/AgiBot-g1_box_storage_c.yaml index 8b3c8975450623cc17f505adc91cc6ba76a58d2f..080b59c11a4421558d904a4adf671576e10dc489 100644 --- a/dataset_info/AgiBot-g1_box_storage_c.yaml +++ b/dataset_info/AgiBot-g1_box_storage_c.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_c dataset_name: box_storage_c -dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the mouse and power cord box. objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_c -video_url: ./assets/videos/AgiBot-g1_box_storage_c.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-23361 dataset_size: 10.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 39 total_frames: 23361 @@ -65,395 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:38 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the box on the table into the big box. +dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the mouse and power cord box. - Place the mouse and power cord box into the container. @@ -470,274 +55,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -770,483 +153,3 @@ structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 474 - dataset_name: box_storage_c - dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/29_下料区场景3/335/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_c - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_c - dataset_uuid: null - task_descriptions: - - put the box on the table into the big box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 39 - total_frames: 23361 - total_tasks: 1 - total_videos: 312 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:38 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml index a14ff3c24de30d7c81773079e26c28b454de397e..9a134e24115d12ae14e5c4c70907edc721038a90 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_cardboard_box_a dataset_name: box_storage_cardboard_box_a -dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_cardboard_box_a -video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-188369 dataset_size: 87.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 402 total_frames: 188369 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:401 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,488 +157,3 @@ structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 458 - dataset_name: box_storage_cardboard_box_a - dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/95_下料区场景13/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_cardboard_box_a - dataset_uuid: null - task_descriptions: - - using a robotic arm to pick up a cardboard box and palace it the carton. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper_box - level1: tool - level2: paper_box - level4: null - level5: null - - object_name: carton - level1: tool - level2: carton - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 402 - total_frames: 188369 - total_tasks: 1 - total_videos: 3216 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:401 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml index bdafd76bb13c738745a0c33b81f03d4451244410..94b715028386ebf007a00c83256ddaa27d5e2a34 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_cardboard_box_b dataset_name: box_storage_cardboard_box_b -dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_cardboard_box_b -video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-115855 dataset_size: 56.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 247 total_frames: 115855 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:246 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,488 +157,3 @@ structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 459 - dataset_name: box_storage_cardboard_box_b - dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/97_下料区场景14/469/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_cardboard_box_b - dataset_uuid: null - task_descriptions: - - using a robotic arm to pick up a cardboard box and palace it the carton. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper_box - level1: tool - level2: paper_box - level4: null - level5: null - - object_name: carton - level1: tool - level2: carton - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 247 - total_frames: 115855 - total_tasks: 1 - total_videos: 1976 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:246 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml index 70f8353624de874796093d1ee482d0ff8d2942d7..ddf5b5f8c846b98b4e36402610f044d441aa7998 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_cardboard_box_c dataset_name: box_storage_cardboard_box_c -dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_cardboard_box_c -video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_c.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-230771 dataset_size: 109.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 476 total_frames: 230771 @@ -65,395 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:475 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -466,274 +51,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -767,489 +151,3 @@ structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 462 - dataset_name: box_storage_cardboard_box_c - dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/101_下料区场景15/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_c - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_cardboard_box_c - dataset_uuid: null - task_descriptions: - - using a robotic arm to pick up a cardboard box and place it into the carton. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: container - level2: carton - level3: null - level4: null - level5: null - - .0object_name: carton - level1: container - level2: carton - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 476 - total_frames: 230771 - total_tasks: 1 - total_videos: 3808 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:475 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_e.yaml b/dataset_info/AgiBot-g1_box_storage_e.yaml index 4e745bb4e0aa7428f3d52c762103d02d19b06106..cc2fe6544a1ea199b1a6184238f6098d6152b11d 100644 --- a/dataset_info/AgiBot-g1_box_storage_e.yaml +++ b/dataset_info/AgiBot-g1_box_storage_e.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_e dataset_name: box_storage_e -dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and the power cord paper box into the container. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_e -video_url: ./assets/videos/AgiBot-g1_box_storage_e.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-33264 dataset_size: 13.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 58 total_frames: 33264 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:57 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the small box on the table into the large box on the left. +dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. @@ -472,274 +57,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -772,489 +155,3 @@ structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 568 - dataset_name: box_storage_e - dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/zy/80_下料区场景5/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_e - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_e - dataset_uuid: null - task_descriptions: - - using a robotic arm to pick up a cardboard box and place it into the carton. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: carton - level1: container - level2: carton - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 58 - total_frames: 33264 - total_tasks: 1 - total_videos: 464 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:57 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_part_a.yaml b/dataset_info/AgiBot-g1_box_storage_part_a.yaml index f0ef27e234693119f5a86fc16c911c4412c6f75d..f0e5fbfb1405593f359fb9853af778ae792ad1d5 100644 --- a/dataset_info/AgiBot-g1_box_storage_part_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_part_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_part_a dataset_name: box_storage_part_a -dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the IO bracket from the container box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_part_a -video_url: ./assets/videos/AgiBot-g1_box_storage_part_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_part_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-205995 dataset_size: 105.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 335 total_frames: 205995 @@ -77,395 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:334 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the parts on the tray and put them in the cardboard box. +dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the IO bracket from the container box. - Place the IO bracket into the ingredient slot. @@ -478,274 +63,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -779,495 +163,3 @@ structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 466 - dataset_name: box_storage_part_a - dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/104_主机上料工序-IO挡板上料场景1/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_part_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_part_a - dataset_uuid: null - task_descriptions: - - pick up the parts on the tray and put them in the cardboard box. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 335 - total_frames: 205995 - total_tasks: 1 - total_videos: 2680 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:334 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_tool.yaml b/dataset_info/AgiBot-g1_box_storage_tool.yaml index 7f6efedba1d5c0f4b7cefde1d345f382d04d9485..25193958f11f1a656a6ba93cde174898a1b43075 100644 --- a/dataset_info/AgiBot-g1_box_storage_tool.yaml +++ b/dataset_info/AgiBot-g1_box_storage_tool.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_box_storage_tool dataset_name: box_storage_tool -dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_box_storage_tool -video_url: ./assets/videos/AgiBot-g1_box_storage_tool.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_tool.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-32860 dataset_size: 1.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 32860 @@ -71,259 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Pick up the power cord from the box containing it and place it in another box. +dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Abnormal @@ -338,123 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -472,375 +128,3 @@ structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 451 - dataset_name: box_storage_tool - dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/10_配件小产线上料工序-放电源线场景2/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_tool - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: tool - level1: tool - level2: tool - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_tool - dataset_uuid: null - task_descriptions: - - put the tools in the box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: tool - level1: tool - level2: tool - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 32860 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_left_capture_part.yaml b/dataset_info/AgiBot-g1_left_capture_part.yaml index e264b69660b89442eea3c4f9497a3b44d3b1b206..c3d1b75ec11b4997a069a4fa232fa127fa45b14a 100644 --- a/dataset_info/AgiBot-g1_left_capture_part.yaml +++ b/dataset_info/AgiBot-g1_left_capture_part.yaml @@ -1,12 +1,12 @@ +path: AgiBot-g1_left_capture_part dataset_name: left_capture_part -dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 -scene_type: -- factory -atomic_actions: -- grasp +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: null +scene_type: [] +atomic_actions: +- grasp +tasks: Pick up the front USB bracket from the feeding area. objects: - object_name: table level1: furniture @@ -32,41 +32,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_left_capture_part -video_url: ./assets/videos/AgiBot-g1_left_capture_part.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_left_capture_part.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-174563 dataset_size: 97.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 464 total_frames: 174563 @@ -75,395 +43,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:463 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Grasp the part with one hand and place it on the black container. +dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the front USB bracket from the feeding area. - Place the front USB bracket into the box. @@ -476,274 +61,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -777,517 +161,3 @@ structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 444 - dataset_name: left_capture_part - dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/45_上料区-金华场景2/377/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_left_capture_part - scene_types: - - factory - atomic_actions: - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: left_capture_part - dataset_uuid: null - task_descriptions: - - grasp the part with your left hand and place them on the black container. - scene_type: - - factory - atomic_actions: - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - - object_name: black_container - level1: tool - level2: black_container - level3: null - level4: null - operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 464 - total_frames: 174563 - total_tasks: 1 - total_videos: 3712 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:463 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml index 96fc86ff9bedd71d6bf2a225235d18d5d794e3e9..e2dd1fea6634926a1d5cfc3db3b84ce503c279d9 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_mobile_accessory_storage_box_a dataset_name: mobile_accessory_storage_box_a -dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the open mouse box onto the operation table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_mobile_accessory_storage_box_a -video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-40631 dataset_size: 16.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 81 total_frames: 40631 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:80 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move the position of the storage box with accessories on the table. +dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the open mouse box onto the operation table. - Grab and pick up the open mouse box from the accessory packaging area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 477 - dataset_name: mobile_accessory_storage_box_a - dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/30_配件包装区场景1/354/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_accessory_storage_box_a - dataset_uuid: null - task_descriptions: - - move the position of the storage box with accessories on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: electronic_products - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 81 - total_frames: 40631 - total_tasks: 1 - total_videos: 648 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:80 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml index 1d616785a3d4bae76605044a329fbefd1486c56a..0afea0894ea8784a2b72a9e26707de156ceaff4a 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_mobile_accessory_storage_box_c dataset_name: mobile_accessory_storage_box_c -dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the mouse and data cable objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_mobile_accessory_storage_box_c -video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_c.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-28207 dataset_size: 13.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 40 total_frames: 28207 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:39 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move the position of the storage box with accessories on the table. +dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the mouse and data cable - Place the mouse and data cable in the paper box @@ -477,274 +62,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -778,489 +162,3 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 481 - dataset_name: mobile_accessory_storage_box_c - dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/48_配件包装区场景9/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_c - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_accessory_storage_box_c - dataset_uuid: null - task_descriptions: - - grasp data cable left put into box grasp mouse right put into box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: electronic_products - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 40 - total_frames: 28207 - total_tasks: 1 - total_videos: 320 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:39 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml index 142efa1643b31e66dd2571a18662ec7e4fddfdd4..c2c32fd80c53500f02abe994f6962887e0985493 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_mobile_accessory_storage_box_d dataset_name: mobile_accessory_storage_box_d -dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the mouse and data cable objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_mobile_accessory_storage_box_d -video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_d.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-17860 dataset_size: 7.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 30 total_frames: 17860 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:29 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move the position of the storage box with accessories on the table. +dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the mouse and data cable - Place the mouse and data cable in the paper box @@ -477,274 +62,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -778,489 +162,3 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 483 - dataset_name: mobile_accessory_storage_box_d - dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/49_配件包装区场景10/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_d - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_accessory_storage_box_d - dataset_uuid: null - task_descriptions: - - move the position of the storage box with accessories on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: electronic_products - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 30 - total_frames: 17860 - total_tasks: 1 - total_videos: 240 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:29 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml index 9edf97ae22a1437ab8cbb9e1d394c1e14cf86512..7b181ce5bc64ca273ea6c41e370fe9822ecee125 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_mobile_accessory_storage_box_e dataset_name: mobile_accessory_storage_box_e -dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and power cord into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_mobile_accessory_storage_box_e -video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_e.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-29872 dataset_size: 14.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 61 total_frames: 29872 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:60 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move the position of the storage box with accessories on the table. +dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 482 - dataset_name: mobile_accessory_storage_box_e - dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/53_配件包装区场景12/390/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_e - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_accessory_storage_box_e - dataset_uuid: null - task_descriptions: - - grasp data cable left put into box grasp mouse right put into box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: electronic_products - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 61 - total_frames: 29872 - total_tasks: 1 - total_videos: 488 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:60 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml index ccf378786bd757ef14a28f730d0aecb29207cc0e..ec01a7d0f87520e487d50951ca17fe7eb1e25250 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_mobile_accessory_storage_box_f dataset_name: mobile_accessory_storage_box_f -dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and power cord into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_mobile_accessory_storage_box_f -video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_f.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_f.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-31735 dataset_size: 12.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 68 total_frames: 31735 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:67 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move the position of the storage box with accessories on the table. +dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 486 - dataset_name: mobile_accessory_storage_box_f - dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/54_配件包装区场景14/362/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_f - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_accessory_storage_box_f - dataset_uuid: null - task_descriptions: - - move the position of the storage box with accessories on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: electronic_products - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 68 - total_frames: 31735 - total_tasks: 1 - total_videos: 544 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:67 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_pick_up_battery.yaml b/dataset_info/AgiBot-g1_pick_up_battery.yaml index 853ea3f2fa14d647dcd92b7d4cdf085f9c2c0354..7ebfa3f07d17d00ec11179816ca4103590bd72f3 100644 --- a/dataset_info/AgiBot-g1_pick_up_battery.yaml +++ b/dataset_info/AgiBot-g1_pick_up_battery.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_pick_up_battery dataset_name: pick_up_battery -dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grab the main unit power supply from the containment box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_pick_up_battery -video_url: ./assets/videos/AgiBot-g1_pick_up_battery.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_pick_up_battery.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-185469 dataset_size: 95.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 387 total_frames: 185469 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:386 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up battery. +dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab the main unit power supply from the containment box. - Place the main unit power supply in the designated area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -772,489 +156,3 @@ structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 468 - dataset_name: pick_up_battery - dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/106_备料工序-电源备料场景1/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_pick_up_battery - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pick_up_battery - dataset_uuid: null - task_descriptions: - - pick up the battery from the box and put it on the table - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: container - level2: carton - level3: null - level4: null - level5: null - - object_name: battery - level1: tool - level2: battery - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 387 - total_frames: 185469 - total_tasks: 1 - total_videos: 3096 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:386 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_battery_a.yaml b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml index a4c58ce93b40bffff7ea60b375233c97a8a1a65a..8e2390c9161aeedbc6bae30b0f20cb4093605882 100644 --- a/dataset_info/AgiBot-g1_picks_up_battery_a.yaml +++ b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_picks_up_battery_a dataset_name: picks_up_battery_a -dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the power supply on the operating table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_picks_up_battery_a -video_url: ./assets/videos/AgiBot-g1_picks_up_battery_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_battery_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-214263 dataset_size: 119.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 562 total_frames: 214263 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:561 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up battery. +dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -773,490 +157,3 @@ structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 457 - dataset_name: picks_up_battery_a - dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/88_备料区场景9/448/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_battery_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: picks_up_battery_a - dataset_uuid: null - task_descriptions: - - use a robotic arm to pick up the battery from the box and place it in the material - preparation area. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: container - level2: carton - level3: null - level4: null - level5: null - - object_name: battery - level1: tool - level2: battery - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 562 - total_frames: 214263 - total_tasks: 1 - total_videos: 4496 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:561 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_battery_b.yaml b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml index 41a04f20fd97c05688037e73c6c1c928fd5391d2..13f89d002941087b2dee6209e018b7d373e0450d 100644 --- a/dataset_info/AgiBot-g1_picks_up_battery_b.yaml +++ b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_picks_up_battery_b dataset_name: picks_up_battery_b -dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the power supply on the operating table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_picks_up_battery_b -video_url: ./assets/videos/AgiBot-g1_picks_up_battery_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_battery_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-131840 dataset_size: 71.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 329 total_frames: 131840 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:328 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: using a robotic arm to pick up battery. +dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 454 - dataset_name: picks_up_battery_b - dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/89_备料区场景10/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_battery_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: picks_up_battery_b - dataset_uuid: null - task_descriptions: - - take out the battery from the box and place it in the material preparation area - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: tool - level2: carton - level3: null - level4: null - level5: null - - object_name: battery - level1: tool - level2: battery - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 329 - total_frames: 131840 - total_tasks: 1 - total_videos: 2632 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:328 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml index 8089c777407679845f76766fbf07e0507966fe3f..2c4379a9d2e1afc77bb995b4c1724929aa841a75 100644 --- a/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml +++ b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_picks_up_cardboard_box dataset_name: picks_up_cardboard_box -dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the mouse and power cord box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_picks_up_cardboard_box -video_url: ./assets/videos/AgiBot-g1_picks_up_cardboard_box.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_cardboard_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-149409 dataset_size: 59.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 277 total_frames: 149409 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:276 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the small cardboard box and load it into the large cardboard box. +dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the mouse and power cord box. - End @@ -475,274 +60,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -776,510 +160,3 @@ structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotatio \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 442 - dataset_name: picks_up_cardboard_box - dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/29_下料区场景3/335/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_cardboard_box - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: laboratory_supplies - level2: carton - level3: null - level4: null - level5: null - - object_name: paper_box - level1: laboratory_supplies - level2: paper_box - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: picks_up_cardboard_box - dataset_uuid: null - task_descriptions: - - pick up the small cardboard box and load it into the large cardboard box. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper_box - level1: tool - level2: paper_box - level4: null - level5: null - - object_name: carton - level1: tool - level2: carton - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 277 - total_frames: 149409 - total_tasks: 1 - total_videos: 2216 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:276 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_parts_a.yaml b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml index 47418eb6fd10dbea1ad25caaaca60cd4e277dc9b..208af9066c06eef922201e41fdf8ffc8c823f2eb 100644 --- a/dataset_info/AgiBot-g1_picks_up_parts_a.yaml +++ b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_picks_up_parts_a dataset_name: picks_up_parts_a -dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the hard drive bracket into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_picks_up_parts_a -video_url: ./assets/videos/AgiBot-g1_picks_up_parts_a.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_parts_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-45417 dataset_size: 22.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 126 total_frames: 45417 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:125 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: use the mechanical arm to pick up the parts and place them on the table. +dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -772,489 +156,3 @@ structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 463 - dataset_name: picks_up_parts_a - dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/99_上料区-金华场景14/476/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_parts_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: picks_up_parts_a - dataset_uuid: null - task_descriptions: - - use the mechanical arm to pick up the parts and place them on the table. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: parts - level1: tool - level2: parts - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 126 - total_frames: 45417 - total_tasks: 1 - total_videos: 1008 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:125 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_parts_b.yaml b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml index 8e9ca03bb10735745577501cf919792f9f86c6b3..9cef8c3166b0f54177a96891ea30a41eebf2d9d8 100644 --- a/dataset_info/AgiBot-g1_picks_up_parts_b.yaml +++ b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_picks_up_parts_b dataset_name: picks_up_parts_b -dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the hard drive bracket into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_picks_up_parts_b -video_url: ./assets/videos/AgiBot-g1_picks_up_parts_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_parts_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-274936 dataset_size: 127.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 824 total_frames: 274936 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:823 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: use the mechanical arm to pick up the parts and place them on the table. +dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -772,489 +156,3 @@ structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 469 - dataset_name: picks_up_parts_b - dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/103_上料区-金华场景15/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_parts_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: picks_up_parts_b - dataset_uuid: null - task_descriptions: - - use the mechanical arm to pick up the parts and place them on the table. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: parts - level1: tool - level2: parts - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 824 - total_frames: 274936 - total_tasks: 1 - total_videos: 6592 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:823 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_remove_the_accessory.yaml b/dataset_info/AgiBot-g1_remove_the_accessory.yaml index 90b9c3fa6490acb6332352bfa7550084da9b13f8..c224c85f852d375314509c2c4c19d42a46d38f1a 100644 --- a/dataset_info/AgiBot-g1_remove_the_accessory.yaml +++ b/dataset_info/AgiBot-g1_remove_the_accessory.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_remove_the_accessory dataset_name: remove_the_accessory -dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the hard drive bracket into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_remove_the_accessory -video_url: ./assets/videos/AgiBot-g1_remove_the_accessory.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_remove_the_accessory.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-27353 dataset_size: 14.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 68 total_frames: 27353 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:67 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take the accessories out of the box and place them on the table. +dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -773,489 +157,3 @@ structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 480 - dataset_name: remove_the_accessory - dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/34_上料区-金华场景8/379/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_remove_the_accessory - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: remove_the_accessory_b - dataset_uuid: null - task_descriptions: - - take the accessories out of the box and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: accessories - level1: industrial_parts - level2: accessories - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 68 - total_frames: 27353 - total_tasks: 1 - total_videos: 544 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:67 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_right_capture_part.yaml b/dataset_info/AgiBot-g1_right_capture_part.yaml index 6b4a6192b3e21d9636f246f31f788a179b2e5aa5..f152a14f6fb5cac4a2009f86fccf34ca109c20ed 100644 --- a/dataset_info/AgiBot-g1_right_capture_part.yaml +++ b/dataset_info/AgiBot-g1_right_capture_part.yaml @@ -1,12 +1,12 @@ +path: AgiBot-g1_right_capture_part dataset_name: right_capture_part -dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 -scene_type: -- factory -atomic_actions: -- grasp +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: null +scene_type: [] +atomic_actions: +- grasp +tasks: Place the front USB bracket into the box. objects: - object_name: table level1: furniture @@ -32,41 +32,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_right_capture_part -video_url: ./assets/videos/AgiBot-g1_right_capture_part.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_right_capture_part.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-27866 dataset_size: 13.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 57 total_frames: 27866 @@ -75,395 +43,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:56 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the part and place them on the black container. +dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the front USB bracket into the box. - Pick up and lift the front USB bracket from the feeding area. @@ -476,274 +61,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -777,517 +161,3 @@ structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 443 - dataset_name: right_capture_part - dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/43_上料区-金华场景3/383/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_right_capture_part - scene_types: - - factory - atomic_actions: - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: right_capture_part - dataset_uuid: null - task_descriptions: - - grasp the part with your right hand and place them on the black container. - scene_type: - - factory - atomic_actions: - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - - object_name: black_container - level1: tool - level2: black_container - level3: null - level4: null - operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 57 - total_frames: 27866 - total_tasks: 1 - total_videos: 456 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:56 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml index d75accd22f12deb3d01f8da3d08b491efae6256b..65fcfd3a434d5f47714ca28afd46eafb9e44ad41 100644 --- a/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_robotic_arm_picks_up_battery dataset_name: robotic_arm_picks_up_battery -dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the power supply on the operating table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_robotic_arm_picks_up_battery -video_url: ./assets/videos/AgiBot-g1_robotic_arm_picks_up_battery.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_battery.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-30215 dataset_size: 17.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 56 total_frames: 30215 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:55 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take the battery and put it on the table. +dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,511 +157,3 @@ structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── ann \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 445 - dataset_name: robotic_arm_picks_up_battery - dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/21_备料区场景5/375/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_robotic_arm_picks_up_battery - scene_types: - - factory - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: laboratory_supplies - level2: carton - level3: null - level4: null - level5: null - - object_name: battery - level1: tool - level2: battery - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: robotic_arm_picks_up_battery - dataset_uuid: null - task_descriptions: - - take the battery and put it on the table. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: carton - level1: tool - level2: carton - level3: null - level4: null - level5: null - - object_name: battery - level1: tool - level2: battery - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 56 - total_frames: 30215 - total_tasks: 1 - total_videos: 448 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:55 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml index 2b15d52003fc41ccbdeac00f527eceb1ae78d717..22155d7db7877ff8d8563b0a43ccc45913f42be0 100644 --- a/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_robotic_arm_picks_up_parts dataset_name: robotic_arm_picks_up_parts -dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the hard drive bracket into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_robotic_arm_picks_up_parts -video_url: ./assets/videos/AgiBot-g1_robotic_arm_picks_up_parts.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_parts.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-30190 dataset_size: 15.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 53 total_frames: 30190 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:52 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up parts and place them into a black container. +dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. @@ -472,274 +57,73 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -773,511 +157,3 @@ structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annot \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 447 - dataset_name: robotic_arm_picks_up_parts - dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/36_上料区-金华场景7/358/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_robotic_arm_picks_up_parts - scene_types: - - factory - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: robotic_arm_picks_up_parts - dataset_uuid: null - task_descriptions: - - pick up parts and place them into a black container. - scene_type: - - factory - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - - object_name: parts - level1: industrial_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 53 - total_frames: 30190 - total_tasks: 1 - total_videos: 424 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:52 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_b.yaml b/dataset_info/AgiBot-g1_storage_item_b.yaml index 07010866e38cd55bb85c788c2ec3f1490d3ce5d3..3d09a407ce7d2559ab8f3735b86843b09201386f 100644 --- a/dataset_info/AgiBot-g1_storage_item_b.yaml +++ b/dataset_info/AgiBot-g1_storage_item_b.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_storage_item_b dataset_name: storage_item_b -dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and power cord into the box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_storage_item_b -video_url: ./assets/videos/AgiBot-g1_storage_item_b.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-48184 dataset_size: 21.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 106 total_frames: 48184 @@ -77,395 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:105 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp data cable left put into box grasp mouse right put into box. +dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. @@ -478,274 +63,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -778,493 +161,3 @@ structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 456 - dataset_name: storage_item_b - dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/94_配件包装区场景18/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_item_b - dataset_uuid: null - task_descriptions: - - grasp data cable left put into box grasp mouse right put into box. - scene_type: - - factory - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: data_cable - level1: tool - level2: data_cable - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - - object_name: mouse - level1: tool - level2: mouse - level3: null - level4: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 106 - total_frames: 48184 - total_tasks: 1 - total_videos: 848 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:105 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_d.yaml b/dataset_info/AgiBot-g1_storage_item_d.yaml index 60bd3d84f909f9cc8549f4295d78f61d72b85b50..45777eb9206233e239000240f205e7c93300e90f 100644 --- a/dataset_info/AgiBot-g1_storage_item_d.yaml +++ b/dataset_info/AgiBot-g1_storage_item_d.yaml @@ -1,14 +1,15 @@ +path: AgiBot-g1_storage_item_d dataset_name: storage_item_d -dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grab and pick up both the mouse and power cord from the accessory packaging + area at the same time objects: - object_name: table level1: furniture @@ -34,41 +35,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_storage_item_d -video_url: ./assets/videos/AgiBot-g1_storage_item_d.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-180148 dataset_size: 86.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 450 total_frames: 180148 @@ -77,395 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:449 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp data cable left put into box grasp mouse right put into box. +dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab and pick up both the mouse and power cord from the accessory packaging area at the same time @@ -479,274 +65,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -779,493 +163,3 @@ structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 461 - dataset_name: storage_item_d - dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/98_配件包装区场景19/472/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_d - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_item_d - dataset_uuid: null - task_descriptions: - - grasp data cable left put into box grasp mouse right put into box. - scene_type: - - factory - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: data_cable - level1: tool - level2: data_cable - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - - object_name: mouse - level1: tool - level2: mouse - level3: null - level4: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 450 - total_frames: 180148 - total_tasks: 1 - total_videos: 3600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:449 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_e.yaml b/dataset_info/AgiBot-g1_storage_item_e.yaml index 98b22e699f7b40aa88ebd883137838f3b5a12942..ad92e6aa778597a16defb4708eff18266f913654 100644 --- a/dataset_info/AgiBot-g1_storage_item_e.yaml +++ b/dataset_info/AgiBot-g1_storage_item_e.yaml @@ -1,14 +1,15 @@ +path: AgiBot-g1_storage_item_e dataset_name: storage_item_e -dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 -scene_type: -- factory +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grab and lift both the mouse and power cord from the accessory packaging area + at the same time objects: - object_name: table level1: furniture @@ -34,41 +35,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_storage_item_e -video_url: ./assets/videos/AgiBot-g1_storage_item_e.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-212067 dataset_size: 92.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 507 total_frames: 212067 @@ -77,395 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:506 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the tools in the box. +dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab and lift both the mouse and power cord from the accessory packaging area at the same time @@ -479,274 +65,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -779,493 +163,3 @@ structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 465 - dataset_name: storage_item_e - dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/100_配件包装区场景20/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_e - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_item_e - dataset_uuid: null - task_descriptions: - - put the data cable and mouse into the box. - scene_type: - - factory - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: data_cable - level1: tool - level2: data_cable - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - - object_name: mouse - level1: tool - level2: mouse - level3: null - level4: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 507 - total_frames: 212067 - total_tasks: 1 - total_videos: 4056 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:506 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/AgiBot-g1_tool_storage.yaml b/dataset_info/AgiBot-g1_tool_storage.yaml index 4f257117493ee3a21900436fa15c705c99df0453..8365a1571fbc00d537c26d5c7f6d4dc80889e81d 100644 --- a/dataset_info/AgiBot-g1_tool_storage.yaml +++ b/dataset_info/AgiBot-g1_tool_storage.yaml @@ -1,14 +1,14 @@ +path: AgiBot-g1_tool_storage dataset_name: tool_storage -dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the mouse and power cord into the box. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: AgiBot-g1_tool_storage -video_url: ./assets/videos/AgiBot-g1_tool_storage.mp4 -thumbnail_url: ./assets/thumbnails/AgiBot-g1_tool_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-30600 dataset_size: 13.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AgiBot_G1 -codebase_version: v2.1 statistics: total_episodes: 67 total_frames: 30600 @@ -71,395 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:66 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the tools into the yellow box on the white table. +dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse and power cord into the box. - Grab and lift both the mouse and power cord from the accessory packaging area at @@ -473,274 +58,72 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.cam_back_left_fisheye_rgb - name: cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_back_right_fisheye_rgb - name: cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_center_fisheye_rgb - name: cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_left_fisheye_rgb - name: cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_fisheye_rgb - name: cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - resolution: - - 1536 - - 1920 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_back_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_center_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_left_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_fisheye_rgb - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w -action_space: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -773,511 +156,3 @@ structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 448 - dataset_name: tool_storage - dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/zy/59_配件包装区场景13/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_tool_storage - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: tools - level1: tools - level2: tools - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: mouse_storage - dataset_uuid: null - task_descriptions: - - put the mouse into the box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: mouse_storage - level1: electronic products - level2: mouse_storage - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 67 - total_frames: 30600 - total_tasks: 1 - total_videos: 536 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:66 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_back_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_center_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_left_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_fisheye_rgb: - dtype: video - shape: - - 1536 - - 1920 - - 3 - names: - - height - - width - - channels - info: - video.height: 1536 - video.width: 1920 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 41 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - - robot_pos_x_m - - robot_pos_y_m - - robot_pos_z_m - - robot_quat_x - - robot_quat_y - - robot_quat_z - - robot_quat_w - action: - dtype: float32 - shape: - - 34 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_end_pos_x_m - - left_end_pos_y_m - - left_end_pos_z_m - - left_end_quat_x - - left_end_quat_y - - left_end_quat_z - - left_end_quat_w - - right_end_pos_x_m - - right_end_pos_y_m - - right_end_pos_z_m - - right_end_quat_x - - right_end_quat_y - - right_end_quat_z - - right_end_quat_w - - waist_yaw_rad - - waist_pitch_rad - - head_yaw_rad - - head_pitch_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml index 3d496131d9da573d36ac6c69a3b625d49c1d58b5..a0244f92b2d74f5846536fd078e1eb93f5af73f6 100644 --- a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml +++ b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_block_gold_bar_models dataset_name: Airbot_MMK2_move_block_gold_bar_models -dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the gold bar on the glasses case with the right gripper objects: - object_name: eyeglass_case level1: laboratory_supplies @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_block_gold_bar_models -video_url: ./assets/videos/Airbot_MMK2_move_block_gold_bar_models.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_block_gold_bar_models.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10703 dataset_size: 433.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 10703 @@ -68,282 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: place the glasses case in the middle of the table with one hand and put the - toy gold bar on top of it with the other hand. +dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the gold bar on the glasses case with the right gripper - Grasp the glasses case with the left gripper @@ -361,183 +56,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -559,394 +132,3 @@ structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 984 - dataset_name: Airbot_MMK2_move_block_gold_bar_models - dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_block_gold_bar_models/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_block_gold_bar_models - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: eyeglass_case - level1: laboratory_supplies - level2: eyeglass_case - level3: null - level4: null - level5: null - - object_name: early_education_toys - level1: toys - level2: early_education_toys - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_move_block_gold_bar_models - dataset_uuid: null - task_descriptions: - - place the glasses case in the middle of the table with your left hand and put - the toy gold bar on the glasses case with your right hand. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: eyeglass_case - level1: laboratory_supplies - level2: eyeglass_case - level3: null - level4: null - level5: null - - object_name: early_education_toys - level1: toys - level2: early_education_toys - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 10703 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_book_front.yaml b/dataset_info/Airbot_MMK2_move_book_front.yaml index 04857f9d4cad55f5e956a0abfbe62b2f1ff6043f..d4a5bb7f46c009dbd8be9e394e8bb04fe4332a03 100644 --- a/dataset_info/Airbot_MMK2_move_book_front.yaml +++ b/dataset_info/Airbot_MMK2_move_book_front.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_book_front dataset_name: Airbot_MMK2_move_book_front -dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 -scene_type: -- 'level1: household' -- 'level2: study_room' -- household -- study_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Deliver the yellow book from left gripper to right gripper objects: - object_name: book level1: stationery @@ -19,41 +16,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_book_front -video_url: ./assets/videos/Airbot_MMK2_move_book_front.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_book_front.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10519 dataset_size: 396.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 10519 @@ -62,282 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the book with one hand and transfer it to the other, then place it - on top of another book. +dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Deliver the yellow book from left gripper to right gripper - Place the yellow book on the white book with the right gripper @@ -353,183 +48,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_book_front_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_book_front_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -551,382 +124,3 @@ structure: "Airbot_MMK2_move_book_front_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 969 - dataset_name: Airbot_MMK2_move_book_front - dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_book_front/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_book_front - scene_types: - - 'level1: household' - - 'level2: study_room' - - household - - study_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: book - level1: stationery - level2: book - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_move_book_front - dataset_uuid: null - task_descriptions: - - pick up the book with your left hand and hand it to your right hand, then place - it on top of another book. - result: success - scene_type: - level1: household - level2: study_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: book - level1: stationery - level2: book - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 10519 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_book_right_side.yaml b/dataset_info/Airbot_MMK2_move_book_right_side.yaml index a2f70b2f82e358ff8c7e459297a6a55a9e42b4e2..86534a17a9c6d8de52038c08295a6469decc0146 100644 --- a/dataset_info/Airbot_MMK2_move_book_right_side.yaml +++ b/dataset_info/Airbot_MMK2_move_book_right_side.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_book_right_side dataset_name: Airbot_MMK2_move_book_right_side -dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 -scene_type: -- 'level1: household' -- 'level2: study_room' -- household -- study_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Pass the yellow book to right gripper objects: - object_name: book level1: stationery @@ -19,41 +16,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_book_right_side -video_url: ./assets/videos/Airbot_MMK2_move_book_right_side.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_book_right_side.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7183 dataset_size: 224.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 46 total_frames: 7183 @@ -62,282 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:45 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the book with one hand, transfer it to the other hand, and then put - it down. +dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pass the yellow book to right gripper - End @@ -352,183 +47,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -550,382 +123,3 @@ structure: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 972 - dataset_name: Airbot_MMK2_move_book_right_side - dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_book_right_side/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_book_right_side - scene_types: - - 'level1: household' - - 'level2: study_room' - - household - - study_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: book - level1: stationery - level2: book - level3: null - level4: null - level5: null - total_episodes: 46 - yaml: - dataset_name: Airbot_MMK2_move_book_right_side - dataset_uuid: null - task_descriptions: - - pick up the book with your left hand, hand it to your right hand and then put - it down. - result: success - scene_type: - level1: household - level2: study_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: book - level1: stationery - level2: book - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 46 - total_frames: 7183 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:45 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml index 41b15b9a084a739ae53fdae6109f91ee1765e934..81e3f58f1baa47c49c32f37b661fd54e66703401 100644 --- a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml +++ b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_bottle_tape_measure dataset_name: Airbot_MMK2_move_bottle_tape_measure -dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the tape measure with the right gripper objects: - object_name: water_bottle level1: beverages @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_bottle_tape_measure -video_url: ./assets/videos/Airbot_MMK2_move_bottle_tape_measure.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_bottle_tape_measure.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7316 dataset_size: 221.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 43 total_frames: 7316 @@ -74,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:42 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the water bottle and the ruler off the white box, one in each hand. +dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the tape measure with the right gripper - Abnormal @@ -365,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -563,406 +137,3 @@ structure: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 961 - dataset_name: Airbot_MMK2_move_bottle_tape_measure - dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_bottle_tape_measure/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_bottle_tape_measure - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: tape_measure - level1: stationery - level2: tape_measure - level3: null - level4: null - level5: null - - object_name: white_basket - level1: home_storage - level2: white_basket - level3: null - level4: null - level5: null - total_episodes: 44 - yaml: - dataset_name: Airbot_MMK2_move_bottle_tape_measure - dataset_uuid: null - task_descriptions: - - take the water bottle and the ruler off the white box respectively with your - left and right hands. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: white_basket - level1: home_storage - level2: white_basket - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: tape_measure - level1: stationery - level2: tape_measure - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 43 - total_frames: 7316 - total_tasks: 1 - total_videos: 172 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:42 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_fake_food.yaml b/dataset_info/Airbot_MMK2_move_fake_food.yaml index 228ab1d8ec2a1b3d92cf15ec8451c9e3c3033526..9e035509d2a40ac89cf7b12d22e7db5a412bc2c5 100644 --- a/dataset_info/Airbot_MMK2_move_fake_food.yaml +++ b/dataset_info/Airbot_MMK2_move_fake_food.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_fake_food dataset_name: Airbot_MMK2_move_fake_food -dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: early_education_toys level1: toys @@ -19,41 +16,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_fake_food -video_url: ./assets/videos/Airbot_MMK2_move_fake_food.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_fake_food.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7610 dataset_size: 313.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 7610 @@ -62,281 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the toy food on the toy table using one hand. +dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the small bowl of canned food with right gripper @@ -351,183 +47,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_fake_food_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_fake_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -548,381 +122,3 @@ structure: "Airbot_MMK2_move_fake_food_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 963 - dataset_name: Airbot_MMK2_move_fake_food - dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_fake_food/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_fake_food - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: early_education_toys - level1: toys - level2: early_education_toys - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_move_fake_food - dataset_uuid: null - task_descriptions: - - put the toy food on the toy table with your right hand. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: early_education_toys - level1: toys - level2: early_education_toys - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 7610 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml index d36100e93997a974f3283f09e8f7e7493ad9fc5c..79f75d0ea8a49c2e9c0b759ddc7fb319546f013f 100644 --- a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml +++ b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_move_medicine_bottle dataset_name: Airbot_MMK2_move_medicine_bottle -dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 -scene_type: -- 'level1: medical_healthcare' -- 'level2: pharmacy' -- medical_healthcare -- pharmacy +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the white bottle on the white board with the right gripper objects: - object_name: table level1: furniture @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_medicine_bottle -video_url: ./assets/videos/Airbot_MMK2_move_medicine_bottle.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_medicine_bottle.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-16023 dataset_size: 467.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 16023 @@ -74,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: place the medicine bottles on the table onto the board with both hands. +dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the white bottle on the white board with the right gripper - Abnormal @@ -366,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -564,405 +138,3 @@ structure: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 881 - dataset_name: Airbot_MMK2_move_medicine_bottle - dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_medicine_bottle/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_medicine_bottle - scene_types: - - 'level1: medical_healthcare' - - 'level2: pharmacy' - - medical_healthcare - - pharmacy - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: board - level1: material - level2: board - level3: null - level4: null - level5: null - - object_name: medicine_bottle - level1: container - level2: medicine_bottle - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_move_medicine_bottle - dataset_uuid: null - task_descriptions: - - place the medicine bottles on the table onto the board with both hands. - result: success - scene_type: - level1: medical_healthcare - level2: pharmacy - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: medicine_bottle - level1: container - level2: medicine_bottle - level3: null - level4: null - level5: null - - object_name: board - level1: material - level2: board - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 16023 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_phone_twice.yaml b/dataset_info/Airbot_MMK2_move_phone_twice.yaml index 185e72c623ce8df85f20d169c3436e22492fc88d..cc5ab0e03a7c5db3bcc35698ecdbbf62cf141630 100644 --- a/dataset_info/Airbot_MMK2_move_phone_twice.yaml +++ b/dataset_info/Airbot_MMK2_move_phone_twice.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_move_phone_twice dataset_name: Airbot_MMK2_move_phone_twice -dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 -scene_type: -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: household' -- 'level2: bedroom' -- household -- bedroom +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the telephone with the right gripper objects: - object_name: mobile_phone level1: appliances @@ -30,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_phone_twice -video_url: ./assets/videos/Airbot_MMK2_move_phone_twice.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_phone_twice.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9795 dataset_size: 512.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 9795 @@ -73,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Place the mobile phone on the box with one hand and take it off with the other. +dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the telephone with the right gripper - End @@ -365,183 +56,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -563,399 +132,3 @@ structure: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 864 - dataset_name: Airbot_MMK2_move_phone_twice - dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_phone_twice/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_phone_twice - scene_types: - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: household' - - 'level2: bedroom' - - household - - bedroom - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: mobile_phone - level1: appliances - level2: mobile_phone - level3: null - level4: null - level5: null - - object_name: paper_boxes - level1: packaging - level2: paper_boxes - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_move_phone_twice - dataset_uuid: null - task_descriptions: - - place the mobile phone on the box with your left hand and take it off with your - right hand. - result: success - scene_type: - level1: household - level2: bedroom - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: mobile_phone - level1: appliances - level2: mobile_phone - level3: null - level4: null - level5: null - - object_name: paper_boxes - level1: home_storage - level2: paper_boxes - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 9795 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_tub.yaml b/dataset_info/Airbot_MMK2_move_tub.yaml index 47ab7d2f25df8b5e4efa8fb9ff1dd49e348140b2..f7939054f9134841a153b9c54468118c4dfa9673 100644 --- a/dataset_info/Airbot_MMK2_move_tub.yaml +++ b/dataset_info/Airbot_MMK2_move_tub.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_move_tub dataset_name: Airbot_MMK2_move_tub -dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 -scene_type: -- kitchen -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the white box with left gripper objects: - object_name: plate level1: kitchen_supplies @@ -24,41 +16,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_move_tub -video_url: ./assets/videos/Airbot_MMK2_move_tub.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_tub.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11634 dataset_size: 340.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 37 total_frames: 11634 @@ -67,281 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:36 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pass the plate to your other hand and then put it down. +dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the white box with left gripper - Place the white box in the center of table with right gripper @@ -356,183 +47,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_move_tub_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_move_tub_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -553,386 +121,3 @@ structure: "Airbot_MMK2_move_tub_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 862 - dataset_name: Airbot_MMK2_move_tub - dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_tub/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_tub - scene_types: - - kitchen - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: 37 - yaml: - dataset_name: Airbot_MMK2_move_tub - dataset_uuid: null - task_descriptions: - - pass the plate to your right hand with your left hand and then put it down. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 37 - total_frames: 11634 - total_tasks: 1 - total_videos: 148 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:36 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_open_laptop.yaml b/dataset_info/Airbot_MMK2_open_laptop.yaml index 477ded267a76c7323291d55d619ed041dbe6aced..b20550e6363c39daf617c8216ad670ff997687ca 100644 --- a/dataset_info/Airbot_MMK2_open_laptop.yaml +++ b/dataset_info/Airbot_MMK2_open_laptop.yaml @@ -1,16 +1,13 @@ +path: Airbot_MMK2_open_laptop dataset_name: Airbot_MMK2_open_laptop -dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 -scene_type: -- 'level1: office_workspace' -- 'level2: office' -- office -- office_workspace +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - open -end_effector_type: -- five_finger_gripper -operation_platform_height: null +tasks: Press the laptop with the right gripper objects: - object_name: laptop level1: appliances @@ -18,41 +15,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_open_laptop -video_url: ./assets/videos/Airbot_MMK2_open_laptop.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_open_laptop.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-11734 dataset_size: 432.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 11734 @@ -61,281 +26,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Press the laptop with one hand and then open it with the other. +dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Press the laptop with the right gripper - Open the laptop with the left gripper @@ -352,183 +48,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_open_laptop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_open_laptop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -549,378 +122,3 @@ structure: "Airbot_MMK2_open_laptop_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 952 - dataset_name: Airbot_MMK2_open_laptop - dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_open_laptop/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_open_laptop - scene_types: - - 'level1: office_workspace' - - 'level2: office' - - office - - office_workspace - atomic_actions: - - grasp - - open - objects: - - object_name: laptop - level1: appliances - level2: laptop - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_open_laptop - dataset_uuid: null - task_descriptions: - - press the laptop with your right hand and then open it with your left hand. - result: success - scene_type: - level1: office_workspace - level2: office - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - open - objects: - - object_name: laptop - level1: appliances - level2: laptop - level3: null - level4: null - level5:operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 11734 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_pass_paper_box.yaml b/dataset_info/Airbot_MMK2_pass_paper_box.yaml index 1353eed4d1f399e62f3bed8c970cd25597fe5c30..0b728a66d57f6976666a67844579e287b5fcd8f1 100644 --- a/dataset_info/Airbot_MMK2_pass_paper_box.yaml +++ b/dataset_info/Airbot_MMK2_pass_paper_box.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_pass_paper_box dataset_name: Airbot_MMK2_pass_paper_box -dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 -scene_type: -- 'level1: household' -- 'level2: study_room' -- household -- study_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the mouse box on the white lid with the left gripper objects: - object_name: paper_box level1: laboratory_supplies @@ -19,41 +16,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_pass_paper_box -video_url: ./assets/videos/Airbot_MMK2_pass_paper_box.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_pass_paper_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8948 dataset_size: 306.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 46 total_frames: 8948 @@ -62,282 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:45 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the book with one hand, transfer it to the other hand, and then put - it down. +dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the mouse box on the white lid with the left gripper - Grasp the calculator case with left gripper @@ -356,183 +51,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_pass_paper_box_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_pass_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -553,382 +126,3 @@ structure: "Airbot_MMK2_pass_paper_box_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 980 - dataset_name: Airbot_MMK2_pass_paper_box - dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_pass_paper_box/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_pass_paper_box - scene_types: - - 'level1: household' - - 'level2: study_room' - - household - - study_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_box - level1: laboratory_supplies - level2: paper_box - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_pass_paper_box - dataset_uuid: null - task_descriptions: - - pick up the book with your left hand, hand it to your right hand and then put - it down. - result: success - scene_type: - level1: household - level2: study_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_box - level1: laboratory_supplies - level2: paper_box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 46 - total_frames: 8948 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:45 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_pour_BBs.yaml b/dataset_info/Airbot_MMK2_pour_BBs.yaml index 58dd1ee9692cb4b7fccd7fa55ffe11cd21f30191..25b9fd958a1bee97428129c5f78259f6a45edbc9 100644 --- a/dataset_info/Airbot_MMK2_pour_BBs.yaml +++ b/dataset_info/Airbot_MMK2_pour_BBs.yaml @@ -1,14 +1,15 @@ +path: Airbot_MMK2_pour_BBs dataset_name: Airbot_MMK2_pour_BBs -dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c +robot_type: '' +end_effector_type: +- five_finger_gripper scene_type: [] atomic_actions: - grasp - pick - place - pour -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the paper cup containing bullets with right gripper objects: - object_name: bowl level1: bowl @@ -28,41 +29,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_pour_BBs -video_url: ./assets/videos/Airbot_MMK2_pour_BBs.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_pour_BBs.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-19075 dataset_size: 708.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 19075 @@ -71,281 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: grab the paper cup and pour the bullets inside into the bowl. +dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the paper cup containing bullets with right gripper - End @@ -362,183 +62,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_pour_BBs_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_pour_BBs_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -559,403 +136,3 @@ structure: "Airbot_MMK2_pour_BBs_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 885 - dataset_name: Airbot_MMK2_pour_BBs - dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_pour_BBs/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_pour_BBs - scene_types: [] - atomic_actions: - - grasp - - pick - - place - - pour - objects: - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: kitchen_supplies - level2: paper_cup - level3: null - level4: null - level5: null - - object_name: bullet - level1: toys - level2: bullet - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_pour_BBs - dataset_uuid: null - task_descriptions: - - grab the paper cup and pour the bullets inside into the bowl. - result: success - scene_type: null - level1: other - level2: laboratory - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - - pour - objects: - - object_name: paper_cup - level1: kitchen_supplies - level2: paper_cup - level3: null - level4: null - level5: null - - object_name: bowl - level1: kitchen_supplies - level2: bowl - level3: null - level4: null - level5: null - - object_name: bullet - level1: toys - level2: bullet - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 19075 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_push_toy_car.yaml b/dataset_info/Airbot_MMK2_push_toy_car.yaml index b96f3725228525595ac501cd33263483cb889683..4539cc0c4a28845dfa904b2ff4934be1a91dd0b4 100644 --- a/dataset_info/Airbot_MMK2_push_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_push_toy_car.yaml @@ -1,15 +1,12 @@ +path: Airbot_MMK2_push_toy_car dataset_name: Airbot_MMK2_push_toy_car -dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room -atomic_actions: -- push +robot_type: '' end_effector_type: - five_finger_gripper -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- push +tasks: End objects: - object_name: table level1: furniture @@ -23,41 +20,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_push_toy_car -video_url: ./assets/videos/Airbot_MMK2_push_toy_car.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_push_toy_car.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6897 dataset_size: 175.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 6897 @@ -66,281 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: push the toy car by hand. +dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Static @@ -355,183 +51,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_push_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_push_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -552,389 +125,3 @@ structure: "Airbot_MMK2_push_toy_car_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 889 - dataset_name: Airbot_MMK2_push_toy_car - dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_push_toy_car/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_push_toy_car - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_push_toy_car - dataset_uuid: null - task_descriptions: - - push the toy car by hand. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - push - objects: - - object_name: table - level1: home_storage - level2: table - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 6897 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml index 11b5bcd77601e792e08d19658111edfeaa6e478b..0c60ef192429fddbb310990de57d7e5a1d8b4b5a 100644 --- a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml +++ b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_bottle_part dataset_name: Airbot_MMK2_storage_bottle_part -dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c -scene_type: -- 'level2: supermarket' -- 'level1: commercial_convenience' -- supermarket -- commercial_convenience +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the water bottle with the right gripper objects: - object_name: carton level1: laboratory_supplies @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_bottle_part -video_url: ./assets/videos/Airbot_MMK2_storage_bottle_part.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_bottle_part.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10499 dataset_size: 508.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 10499 @@ -74,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: put the water bottle and handle into the cardboard box. +dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the water bottle with the right gripper - Place the water bottle into the cardboard box with the right gripper @@ -368,183 +64,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -566,405 +140,3 @@ structure: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 983 - dataset_name: Airbot_MMK2_storage_bottle_part - dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_bottle_part/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_bottle_part - scene_types: - - 'level2: supermarket' - - 'level1: commercial_convenience' - - supermarket - - commercial_convenience - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: carton - level1: laboratory_supplies - level2: carton - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: handle - level1: laboratory_supplies - level2: handle - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_storage_bottle_part - dataset_uuid: null - task_descriptions: - - put the water bottle and handle into the cardboard box. - result: success - scene_type: - level1: commercial_convenience - level2: supermarket - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: handle - level1: laboratory_supplies - level2: handle - level3: null - level4: null - level5: null - - object_name: carton - level1: laboratory_supplies - level2: carton - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 10499 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml index da5b1d1f65bc798362009305b157d3447ffdc59f..fcdbec8e6290f5fa1c8e25de8b23c7681706175a 100644 --- a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml +++ b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_bowl_wet_wipes dataset_name: Airbot_MMK2_storage_bowl_wet_wipes -dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 -scene_type: -- 'level2: supermarket' -- 'level1: commercial_convenience' -- supermarket -- commercial_convenience +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the wet wipes into the bowl with the left gripper objects: - object_name: table level1: furniture @@ -37,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_bowl_wet_wipes -video_url: ./assets/videos/Airbot_MMK2_storage_bowl_wet_wipes.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_bowl_wet_wipes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13058 dataset_size: 425.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 13058 @@ -80,281 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: put the bowl and wet wipes on the plate. +dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the wet wipes into the bowl with the left gripper - Place the bowl on the plate with the right gripper @@ -371,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -569,417 +143,3 @@ structure: "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 913 - dataset_name: Airbot_MMK2_storage_bowl_wet_wipes - dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_bowl_wet_wipes/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_bowl_wet_wipes - scene_types: - - 'level2: supermarket' - - 'level1: commercial_convenience' - - supermarket - - commercial_convenience - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rectangular_plate - level1: kitchen_supplies - level2: rectangular_plate - level3: null - level4: null - level5: null - - object_name: plastic_bowls - level1: kitchen_supplies - level2: plastic_bowls - level3: null - level4: null - level5: null - - object_name: wet_tissue_paper - level1: kitchen_supplies - level2: wet_tissue_paper - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_storage_bowl_wet_wipes - dataset_uuid: null - task_descriptions: - - put the bowl and wet wipes on the plate. - result: success - scene_type: - level1: commercial_convenience - level2: supermarket - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: home_storage - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bowls - level1: kitchen_supplies - level2: plastic_bowls - level3: null - level4: null - level5: null - - object_name: rectangular_plate - level1: kitchen_supplies - level2: rectangular_plate - level3: null - level4: null - level5: null - - object_name: wet_tissue_paper - level1: kitchen_supplies - level2: wet_tissue_paper - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 13058 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml index 64302e23be00a0210af2681e31ac42790eaa7a19..1ac83d88d211b8c94b073b20e784d785624bf23e 100644 --- a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml +++ b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_braised_pork_belly_shrimp dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp -dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f -scene_type: -- kitchen -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the braised pork in brown sauce into the plate with the left gripper objects: - object_name: plate level1: kitchen_supplies @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_braised_pork_belly_shrimp -video_url: ./assets/videos/Airbot_MMK2_storage_braised_pork_belly_shrimp.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_braised_pork_belly_shrimp.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-5834 dataset_size: 277.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 38 total_frames: 5834 @@ -74,281 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:37 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: put the braised pork and shrimp on the plate +dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the braised pork in brown sauce into the plate with the left gripper - Grasp the shrimp with the right gripper @@ -365,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -563,405 +137,3 @@ structure: "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 915 - dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp - dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_braised_pork_belly_shrimp/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_braised_pork_belly_shrimp - scene_types: - - kitchen - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: shrimp - level1: prepared_dishes - level2: shrimp - level3: null - level4: null - level5: null - - object_name: braised_pork - level1: prepared_dishes - level2: braised_pork - level3: null - level4: null - level5: null - total_episodes: 38 - yaml: - dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp - dataset_uuid: null - task_descriptions: - - put the braised pork and shrimp on the plate - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: shrimp - level1: prepared_dishes - level2: shrimp - level3: null - level4: null - level5: null - - object_name: braised_pork - level1: prepared_dishes - level2: braised_pork - level3: null - level4: null - level5: null - - object_name: plate - level1: plates - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 38 - total_frames: 5834 - total_tasks: 1 - total_videos: 152 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:37 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml index e3142f27de2e34c1d65d6d4c320617c616e8dd54..f578caa57ecb6e822357a9f90c3000f4ed59f15e 100644 --- a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_cookie_toy_car dataset_name: Airbot_MMK2_storage_cookie_toy_car -dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Lift the toy car with left gripper and lift the cookies with the right gripper objects: - object_name: table level1: furniture @@ -37,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_cookie_toy_car -video_url: ./assets/videos/Airbot_MMK2_storage_cookie_toy_car.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cookie_toy_car.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8388 dataset_size: 277.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 8388 @@ -80,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the toy car with one hand and put it in the basket, then pick up the - cookie with the other hand and put it in the basket. +dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Lift the toy car with left gripper and lift the cookies with the right gripper - Grasp the toy car with left gripper and grasp the cookies with the right gripper @@ -373,183 +68,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -571,418 +144,3 @@ structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 989 - dataset_name: Airbot_MMK2_storage_cookie_toy_car - dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cookie_toy_car/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cookie_toy_car - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - - object_name: cookie - level1: snacks - level2: cookie - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_storage_cookie_toy_car - dataset_uuid: null - task_descriptions: - - pick up the toy car with left hand and put it in the basket, then pick up the - cookie with right hand and put it in the basket. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - - object_name: cookie - level1: snacks - level2: cookie - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 8388 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cup.yaml b/dataset_info/Airbot_MMK2_storage_cup.yaml index 9bf8e9649860c05b409e262caac405b98e28f984..1a5f4176fdc86ccb22a76897c8d686faca5bd1ad 100644 --- a/dataset_info/Airbot_MMK2_storage_cup.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_storage_cup dataset_name: Airbot_MMK2_storage_cup -dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 -scene_type: -- kitchen -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: place the cup in the yellow basket use the right gripper objects: - object_name: any_cup level1: cups @@ -30,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_cup -video_url: ./assets/videos/Airbot_MMK2_storage_cup.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cup.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-20190 dataset_size: 802.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 20190 @@ -73,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: put the two cups in the basin. +dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - place the cup in the yellow basket use the right gripper - Grasp the cup the left gripper @@ -368,183 +59,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_storage_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -565,398 +133,3 @@ structure: "Airbot_MMK2_storage_cup_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 859 - dataset_name: Airbot_MMK2_storage_cup - dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cup - scene_types: - - kitchen - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: any_cup - level1: cups - level2: any_cup - level3: null - level4: null - level5: null - - object_name: basin - level1: storage_utensils - level2: basin - level3: null - level4: null - level5: null - total_episodes: 99 - yaml: - dataset_name: Airbot_MMK2_storage_cup - dataset_uuid: null - task_descriptions: - - put the two cups in the basin. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: any_cup - level1: cups - level2: any_cup - level3: null - level4: null - level5: null - - object_name: basin - level1: storage_utensils - level2: basin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 20190 - total_tasks: 1 - total_videos: 396 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml index 2e2a9d814396bf3e70fc42cfd1ca9d50129e60f2..8a25c31a6cc31d4b4db0c5e142791fcb5128bbe8 100644 --- a/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_cup_rubik_s_cube dataset_name: Airbot_MMK2_storage_cup_rubik's_cube -dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the paper cup with the left gripper objects: - object_name: plate level1: kitchen_supplies @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_cup_rubik_s_cube -video_url: ./assets/videos/Airbot_MMK2_storage_cup_rubik_s_cube.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cup_rubik_s_cube.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13787 dataset_size: 386.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 47 total_frames: 13787 @@ -74,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:46 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the rubik's cube and place it into the plate, then set the cup on top - of the cube. +dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the paper cup with the left gripper - Place the paper cup on the magic cube with the left gripper @@ -366,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -564,406 +137,3 @@ structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 922 - dataset_name: Airbot_MMK2_storage_cup_rubik's_cube - dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cup_rubik's_cube/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cup_rubik_s_cube - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - - object_name: rubik's_cube - level1: toys - level2: rubik's_cube - level3: null - level4: null - level5: null - total_episodes: 47 - yaml: - dataset_name: Airbot_MMK2_storage_cup_rubik's_cube - dataset_uuid: null - task_descriptions: - - put the rubik's Cube into the plate with right hand and place the cup on top - of the cube with left hand. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - - object_name: rubik's_cube - level1: toys - level2: rubik's_cube - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 47 - total_frames: 13787 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:46 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml index 32e2c4940088b0b91d7c828c920d7d0f2deda888..59441529e43044bd64dae2c1114fbc81a1b3f000 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_egg_bowl dataset_name: Airbot_MMK2_storage_egg_bowl -dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 -scene_type: -- kitchen -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the egg with the left gripper objects: - object_name: bowl level1: bowl @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_egg_bowl -video_url: ./assets/videos/Airbot_MMK2_storage_egg_bowl.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_egg_bowl.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11572 dataset_size: 444.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 11572 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: use hands to pick the egg on the table and place them into the bowl. +dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the egg with the left gripper - Place the egg into bowl with the right gripper @@ -359,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -557,393 +131,3 @@ structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 899 - dataset_name: Airbot_MMK2_storage_egg_bowl - dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_egg_bowl/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_egg_bowl - scene_types: - - kitchen - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - - object_name: egg - level1: food - level2: eggs - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_storage_egg_bowl - dataset_uuid: null - task_descriptions: - - use hands to pick the egg on the table and place them into the bowl. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: bowl - level1: kitchen_supplies - level2: plastic_bowls - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 11572 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml index d2131fd66c1562673baac0aee204cdcc6a63a5a8..02b20eafa7d61ac8f309a535780d1fb76b276f78 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_egg_plate dataset_name: Airbot_MMK2_storage_egg_plate -dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 -scene_type: -- kitchen -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the egg into the plate with the right gripper objects: - object_name: egg level1: food @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_egg_plate -video_url: ./assets/videos/Airbot_MMK2_storage_egg_plate.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_egg_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7564 dataset_size: 345.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 45 total_frames: 7564 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:44 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: use hands to pick the egg on the table and place them into the plate. +dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the egg into the plate with the right gripper - Grasp the egg with the left gripper @@ -360,183 +56,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -558,393 +132,3 @@ structure: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 896 - dataset_name: Airbot_MMK2_storage_egg_plate - dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_egg_plate/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_egg_plate - scene_types: - - kitchen - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: egg - level1: food - level2: eggs - level3: null - level4: null - level5: null - - object_name: white_small_plate - level1: plates - level2: white_small_plate - level3: null - level4: null - level5: null - total_episodes: 45 - yaml: - dataset_name: Airbot_MMK2_storage_egg_plate - dataset_uuid: null - task_descriptions: - - use hands to pick the egg on the table and place them into the plate. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: white_small_plate - level1: kitchen_supplies - level2: plates - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 45 - total_frames: 7564 - total_tasks: 1 - total_videos: 180 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:44 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml index bf5fa9e1e0a2a1eb653c441b9fd66058054fb55f..5042c160571567151616e60dcdfdd7062ec8e46e 100644 --- a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml +++ b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_electronics_yellow_baket dataset_name: Airbot_MMK2_storage_electronics_yellow_baket -dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the calculator box into the storage box with the left gripper objects: - object_name: basket level1: home_storage @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_electronics_yellow_baket -video_url: ./assets/videos/Airbot_MMK2_storage_electronics_yellow_baket.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_electronics_yellow_baket.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25739 dataset_size: 878.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 25739 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: put the electronic products components into the yellow basket. +dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the calculator box into the storage box with the left gripper - Grasp the calculator box with the left gripper @@ -365,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -563,393 +137,3 @@ structure: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 974 - dataset_name: Airbot_MMK2_storage_electronics_yellow_baket - dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_electronics_yellow_baket/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_electronics_yellow_baket - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: paper_boxes - level1: packaging - level2: paper_boxes - level3: null - level4: null - level5: null - total_episodes: 99 - yaml: - dataset_name: Airbot_MMK2_storage_electronics_yellow_baket - dataset_uuid: null - task_descriptions: - - put the electronic products components into the yellow basket. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_boxes - level1: packaging - level2: paper_boxes - level3: null - level4: null - level5: null - - object_name: basket - level1: baskets - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 25739 - total_tasks: 1 - total_videos: 396 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml index f55287368ca45cd38bbabe72684113f6a6701033..f4b1825b740750672d05fe6478d64724341dfbbe 100644 --- a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml +++ b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_peach_pear dataset_name: Airbot_MMK2_storage_peach_pear -dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 -scene_type: -- kitchen -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp a peach with the left gripper objects: - object_name: peach level1: fruits @@ -31,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_peach_pear -video_url: ./assets/videos/Airbot_MMK2_storage_peach_pear.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_peach_pear.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-2804 dataset_size: 114.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 12 total_frames: 2804 @@ -74,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:11 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the peach and put it in the storage box, then pick up the pear and - put it in the storage box. +dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp a peach with the left gripper - Grasp a pear with the right gripper @@ -366,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -564,406 +137,3 @@ structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 911 - dataset_name: Airbot_MMK2_storage_peach_pear - dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_peach_pear/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_peach_pear - scene_types: - - kitchen - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: peach - level1: fruits - level2: peach - level3: null - level4: null - level5: null - - object_name: pear - level1: fruits - level2: pear - level3: null - level4: null - level5: null - - object_name: storage_box - level1: storage_utensils - level2: storage_box - level3: null - level4: null - level5: null - total_episodes: 48 - yaml: - dataset_name: Airbot_MMK2_storage_peach_pear - dataset_uuid: null - task_descriptions: - - pick up the peach with left hand and put it in the storage box, and pick up - the pear with right hand and put it in the storage box. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: pear - level1: fruits - level2: pear - level3: null - level4: null - level5: null - - object_name: peach - level1: fruits - level2: peach - level3: null - level4: null - level5: null - - object_name: storage_box - level1: storage_utensils - level2: storage_box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 12 - total_frames: 2804 - total_tasks: 1 - total_videos: 48 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:11 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_tools.yaml b/dataset_info/Airbot_MMK2_storage_tools.yaml index db17c58e99f5cfd28eea6ed712a7f574727be3ab..b679ef9971d8198f20fb324cb22f7a33d406acd8 100644 --- a/dataset_info/Airbot_MMK2_storage_tools.yaml +++ b/dataset_info/Airbot_MMK2_storage_tools.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_storage_tools dataset_name: Airbot_MMK2_storage_tools -dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 -scene_type: -- factory -- industry -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: industry' -- 'level2: factory' +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the plier into white basket with the left gripper objects: - object_name: utility_knife level1: kitchen_supplies @@ -36,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_tools -video_url: ./assets/videos/Airbot_MMK2_storage_tools.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_tools.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-7910 dataset_size: 221.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 7910 @@ -79,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the plier and the utility knife on the table by hand and place them - into the white tray. +dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the plier into white basket with the left gripper - Grasp the plier with the left gripper @@ -371,183 +61,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -568,411 +136,3 @@ structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 849 - dataset_name: Airbot_MMK2_storage_tools - dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_tools/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_tools - scene_types: - - factory - - industry - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: industry' - - 'level2: factory' - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: utility_knife - level1: kitchen_supplies - level2: utility_knife - level3: null - level4: null - level5: null - - object_name: pliers - level1: daily_necessities - level2: pliers - level3: null - level4: null - level5: null - - object_name: plates - level1: kitchen_supplies - level2: plates - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_storage_tools - dataset_uuid: null - task_descriptions: - - pick up the plier and the utility knife on the table by hand and place them - into the white tray. - result: success - scene_type: - level1: industry - level2: factory - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: utility_knife - level1: kitchen_supplies - level2: utility_knife - level3: null - level4: null - level5: null - - object_name: pliers - level1: daily_necessities - level2: pliers - level3: null - level4: null - level5: null - - object_name: plates - level1: kitchen_supplies - level2: plates - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 7910 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml index 25039ce3f4d1e231da360bbdff9576c2379ed774..53804f1a56d1de54433d2f18479b4b66e85aff71 100644 --- a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml +++ b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_storage_tumbler_umbrella dataset_name: Airbot_MMK2_storage_tumbler_umbrella -dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 -scene_type: -- 'level1: household' -- 'level2: living_room' -- household -- living_room +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the cup into the white basket with the right gripper objects: - object_name: table level1: furniture @@ -37,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_storage_tumbler_umbrella -video_url: ./assets/videos/Airbot_MMK2_storage_tumbler_umbrella.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_tumbler_umbrella.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-14373 dataset_size: 542.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 14373 @@ -80,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the umbrella and put it in the basket, then pick up the thermos and - put it in the basket. +dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cup into the white basket with the right gripper - Grasp the umbrella with the left gripper @@ -372,183 +67,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -570,418 +143,3 @@ structure: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 987 - dataset_name: Airbot_MMK2_storage_tumbler_umbrella - dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_tumbler_umbrella/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_tumbler_umbrella - scene_types: - - 'level1: household' - - 'level2: living_room' - - household - - living_room - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: umbrella - level1: daily_necessities - level2: umbrella - level3: null - level4: null - level5: null - - object_name: tumbler - level1: container - level2: tumbler - level3: null - level4: null - level5: null - total_episodes: 48 - yaml: - dataset_name: Airbot_MMK2_storage_tumbler_umbrella - dataset_uuid: null - task_descriptions: - - pick up the umbrella with left hand and put it in the basket, then use right - hand to pick up the thermos and put it in the basket. - result: success - scene_type: - level1: household - level2: living_room - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: umbrella - level1: tool - level2: umbrella - level3: null - level4: null - level5: null - - object_name: tumbler - level1: container - level2: tumbler - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 14373 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml index f349aa49c332efa4b95b97350311a3b3551cfb5d..00a0848d719b691dc72985959b3e97cb91c62578 100644 --- a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_swap_bottle_wet_wipes_plate dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate -dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b -scene_type: -- kitchen -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the wet wipes into the plate with the right gripper objects: - object_name: plate level1: kitchen_supplies @@ -36,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_swap_bottle_wet_wipes_plate -video_url: ./assets/videos/Airbot_MMK2_swap_bottle_wet_wipes_plate.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_swap_bottle_wet_wipes_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-15726 dataset_size: 489.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 15726 @@ -79,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the bottle out of the plate with one hand and put the wet wipes in with - the other. +dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the wet wipes into the plate with the right gripper - Place the Vitamin B water on the table with the left gripper @@ -370,183 +60,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -568,411 +136,3 @@ structure: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 867 - dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate - dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_swap_bottle_wet_wipes_plate/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_swap_bottle_wet_wipes_plate - scene_types: - - kitchen - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: wipes - level1: kitchen_supplies - level2: wipes - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate - dataset_uuid: null - task_descriptions: - - take the bottle out of the plate with left hand and put the wet wipes in with - right hand. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: wipes - level1: kitchen_supplies - level2: wipes - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 15726 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml index 6ac645dc6ca52b3d147a499e1149983cee9c8395..84645a71fcb13ebe2bcac0cc85ed0ede54208266 100644 --- a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml @@ -1,22 +1,14 @@ +path: Airbot_MMK2_swap_sponge_paper_box_plate dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate -dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 -scene_type: -- kitchen -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: household' -- 'level2: kitchen' -- household +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the sponge on the table with the left gripper objects: - object_name: plate level1: kitchen_supplies @@ -36,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_swap_sponge_paper_box_plate -video_url: ./assets/videos/Airbot_MMK2_swap_sponge_paper_box_plate.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_swap_sponge_paper_box_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8731 dataset_size: 272.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 8731 @@ -79,282 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Take the sponge out of the plate with one hand and put the box in with the - other. +dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the sponge on the table with the left gripper - Grasp the mouse box with the right gripper @@ -372,183 +62,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -570,412 +138,3 @@ structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 873 - dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate - dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_swap_sponge_paper_ - box_plate/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_swap_sponge_paper_box_plate - scene_types: - - kitchen - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: household' - - 'level2: kitchen' - - household - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: paper_boxes - level1: packaging - level2: paper_boxes - level3: null - level4: null - level5: null - - object_name: cleaning_sponge - level1: daily_necessities - level2: cleaning_sponge - level3: null - level4: null - level5: null - total_episodes: 50 - yaml: - dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate - dataset_uuid: null - task_descriptions: - - take the sponge out of the plate with left hand and put the box in with right - hand. - result: success - scene_type: - level1: household - level2: kitchen - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_boxes - level1: home_storage - level2: paper_boxes - level3: null - level4: null - level5: null - - object_name: cleaning_sponge - level1: daily_necessities - level2: cleaning_sponge - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 8731 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_cup.yaml b/dataset_info/Airbot_MMK2_take_cup.yaml index faea68d4b3a0e26c634a59f1456ec9d6359f2806..440d03d84619919a4e1a0c3bb0284215390d18f4 100644 --- a/dataset_info/Airbot_MMK2_take_cup.yaml +++ b/dataset_info/Airbot_MMK2_take_cup.yaml @@ -1,23 +1,15 @@ +path: Airbot_MMK2_take_cup dataset_name: Airbot_MMK2_take_cup -dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 -scene_type: -- level1 -- level2 -- level3 -- level4 -- level5 -- 'level1: catering' -- 'level2: cafe' -- catering -- cafe +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - place - clip - takeout - pinch -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: place the cup in the table use the left gripper objects: - object_name: cup level1: kitchen_supplies @@ -31,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_take_cup -video_url: ./assets/videos/Airbot_MMK2_take_cup.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_cup.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-5435 dataset_size: 169.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 35 total_frames: 5435 @@ -74,281 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:34 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the cup off the white lid and place them on the table by hands. +dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - place the cup in the table use the left gripper - place the cup in the table use the right gripper @@ -364,183 +55,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_take_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_take_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -561,400 +129,3 @@ structure: "Airbot_MMK2_take_cup_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 858 - dataset_name: Airbot_MMK2_take_cup - dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_cup - scene_types: - - level1 - - level2 - - level3 - - level4 - - level5 - - 'level1: catering' - - 'level2: cafe' - - catering - - cafe - atomic_actions: - - place - - clip - - takeout - - pinch - objects: - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - - object_name: lid - level1: laboratory_supplies - level2: lid - level3: null - level4: null - level5: null - total_episodes: 35 - yaml: - dataset_name: Airbot_MMK2_take_cup - dataset_uuid: null - task_descriptions: - - take the cup off the white lid and place them on the table by hands. - result: success - scene_type: - level1: catering - level2: cafe - level3: null - level4: null - level5: null - atomic_actions: - - pinch - - place - - clip - - takeout - objects: - - object_name: cup - level1: cups - level2: cup - level3: null - level4: null - level5: null - - object_name: lid - level1: storage_utensils - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 35 - total_frames: 5435 - total_tasks: 1 - total_videos: 140 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:34 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_drink.yaml b/dataset_info/Airbot_MMK2_take_drink.yaml index 2fe1a09811d3701f6361fbc1e91796870b38be88..c7746f513af449ad02e28f54561854365bab26c7 100644 --- a/dataset_info/Airbot_MMK2_take_drink.yaml +++ b/dataset_info/Airbot_MMK2_take_drink.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_take_drink dataset_name: Airbot_MMK2_take_drink -dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 -scene_type: -- 'level1: convenience' -- 'level2: supermarket' -- supermarket -- convenience +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Place the coffee on the table with the left gripper objects: - object_name: paper_cup level1: kitchen_supplies @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_take_drink -video_url: ./assets/videos/Airbot_MMK2_take_drink.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_drink.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-16951 dataset_size: 557.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 85 total_frames: 16951 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:84 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the drink by hand and put it on the table. +dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the coffee on the table with the left gripper - Place the vitamin B water on the table with the left gripper @@ -362,183 +58,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_take_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_take_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -559,393 +132,3 @@ structure: "Airbot_MMK2_take_drink_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 883 - dataset_name: Airbot_MMK2_take_drink - dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_drink/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_drink - scene_types: - - 'level1: convenience' - - 'level2: supermarket' - - supermarket - - convenience - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_cup - level1: kitchen_supplies - level2: paper_cup - level3: null - level4: null - level5: null - - object_name: any_beverages - level1: beverages - level2: any_beverages - level3: null - level4: null - level5: null - total_episodes: 86 - yaml: - dataset_name: Airbot_MMK2_take_drink - dataset_uuid: null - task_descriptions: - - pick up the drink by hand and put it on the table. - result: success - scene_type: - level1: convenience - level2: supermarket - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: any_beverages - level1: beverages - level2: any_beverages - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: cups - level2: paper_cup - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 85 - total_frames: 16951 - total_tasks: 1 - total_videos: 340 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:84 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_electronics.yaml b/dataset_info/Airbot_MMK2_take_electronics.yaml index 62a4d7df5b00bf7ed4c8d8854558dc24df7c53ef..2f644aafdd52ddb0026ecfee10393da5835fbb3c 100644 --- a/dataset_info/Airbot_MMK2_take_electronics.yaml +++ b/dataset_info/Airbot_MMK2_take_electronics.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_take_electronics dataset_name: Airbot_MMK2_take_electronics -dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee -scene_type: -- factory -- industry -- 'level1: industry' -- 'level2: factory' +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: lid level1: laboratory_supplies @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_take_electronics -video_url: ./assets/videos/Airbot_MMK2_take_electronics.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_electronics.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-13465 dataset_size: 399.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 13465 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the calculator box and mouse box off the lid and place them on the table. +dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the mouse box on the table with the left gripper @@ -359,183 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -557,393 +131,3 @@ structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 894 - dataset_name: Airbot_MMK2_take_electronics - dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_electronics/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_electronics - scene_types: - - factory - - industry - - 'level1: industry' - - 'level2: factory' - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: lid - level1: laboratory_supplies - level2: lid - level3: null - level4: null - level5: null - - object_name: paper_boxes - level1: packaging - level2: paper_boxes - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_take_electronics - dataset_uuid: null - task_descriptions: - - take the calculator box and mouse box off the lid and place them on the table. - result: success - scene_type: - level1: industry - level2: factory - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: paper_boxes - level1: baskets - level2: paper_boxes - level3: null - level4: null - level5: null - - object_name: lid - level1: storage_utensils - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 13465 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_toy_car.yaml b/dataset_info/Airbot_MMK2_take_toy_car.yaml index e525606b71e2ccf0df341a55c49195d252945318..1a6ac22d79287c8dbe34d1add44cbf58a5ef9ffe 100644 --- a/dataset_info/Airbot_MMK2_take_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_take_toy_car.yaml @@ -1,17 +1,14 @@ +path: Airbot_MMK2_take_toy_car dataset_name: Airbot_MMK2_take_toy_car -dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df -scene_type: -- 'level1: other' -- 'level2: laboratory' -- other -- laboratory +robot_type: '' +end_effector_type: +- five_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the toy car on the plate and with the left gripper objects: - object_name: toy_car level1: toy @@ -25,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Airbot_MMK2_take_toy_car -video_url: ./assets/videos/Airbot_MMK2_take_toy_car.mp4 -thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_toy_car.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-14333 dataset_size: 457.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Airbot_MMK2 -codebase_version: v2.1 statistics: total_episodes: 49 total_frames: 14333 @@ -68,281 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:48 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the toy car out of the plate by hand and place it on the table. +dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the toy car on the plate and with the left gripper - Grasp the toy car on the plate and with the right gripper @@ -359,183 +55,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_third_view - name: cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_third_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -action_space: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Airbot_MMK2_take_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Airbot_MMK2_take_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -556,393 +129,3 @@ structure: "Airbot_MMK2_take_toy_car_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 879 - dataset_name: Airbot_MMK2_take_toy_car - dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df - device_model: Airbot_MMK2 - end_effector_type: five_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_toy_car/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_toy_car - scene_types: - - 'level1: other' - - 'level2: laboratory' - - other - - laboratory - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: toy_car - level1: toy - level2: toy_car - level3: null - level4: null - level5: null - - object_name: white_small_plate - level1: plates - level2: white_small_plate - level3: null - level4: null - level5: null - total_episodes: 49 - yaml: - dataset_name: Airbot_MMK2_take_toy_car - dataset_uuid: null - task_descriptions: - - take the toy car out of the plate by hand and place it on the table. - result: success - scene_type: - level1: other - level2: laboratory - level3: null - level4: null - level5: null - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: toy_car - level1: doll - level2: toy_car - level3: null - level4: null - level5: null - - object_name: white_small_plate - level1: plates - level2: white_small_plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - Airbot_MMK2 - end_effector_type: five_finger_gripper - meta: - robot_type: Airbot_MMK2 - codebase_version: v2.1 - statistics: - total_episodes: 49 - total_frames: 14333 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:48 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_third_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - action: - dtype: float32 - shape: - - 36 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - left_hand_joint_8_rad - - left_hand_joint_9_rad - - left_hand_joint_10_rad - - left_hand_joint_11_rad - - left_hand_joint_12_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - - right_hand_joint_8_rad - - right_hand_joint_9_rad - - right_hand_joint_10_rad - - right_hand_joint_11_rad - - right_hand_joint_12_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml index 76178b046d0a4bc17d39868a9156ddceb4eb7961..d91a97eed996b1f0a110cbfc60dcace8e5e540c0 100644 --- a/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml +++ b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_box_storage_chopsticks dataset_name: box_storage_chopsticks -dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the right arm to put the chopsticks into the lunch box objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_box_storage_chopsticks -video_url: ./assets/videos/Cobot_Magic_box_storage_chopsticks.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_box_storage_chopsticks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-170337 dataset_size: 6.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 499 total_frames: 170337 @@ -83,263 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:498 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'on blue tablecloth take chopsticks from black tray and put them in box. - - on brown tablecloth take chopsticks from black tray and put them in box. - - on green tablecloth take chopsticks from black tray and put them in box. - - on pink tablecloth take chopsticks from black tray and put them in box. - - on white black tablecloth take chopsticks from black tray and put them in box. - - on white tablecloth take chopsticks from black tray and put them in box.' +dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the right arm to put the chopsticks into the lunch box - Abnormal @@ -358,117 +75,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -487,364 +145,3 @@ structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 263 - dataset_name: box_storage_chopsticks - dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/chopstick_classfied_AH202503270003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_box_storage_chopsticks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_storage_chopsticks - dataset_uuid: null - task_descriptions: - - on blue tablecloth take chopsticks from black tray and put them in box. - - on brown tablecloth take chopsticks from black tray and put them in box. - - on green tablecloth take chopsticks from black tray and put them in box. - - on pink tablecloth take chopsticks from black tray and put them in box. - - on white tablecloth take chopsticks from black tray and put them in box. - - on white black tablecloth take chopsticks from black tray and put them in box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: pallet - level1: container - level2: pallet - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 499 - total_frames: 170337 - total_tasks: 6 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:498 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cap_the_pen_a.yaml b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml index d45f6c7a878255a3a02d6005aef6242e4d8bdfe9..461c12a4b2251c32cba15ad94ec2d47f5c7f55d5 100644 --- a/dataset_info/Cobot_Magic_cap_the_pen_a.yaml +++ b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_cap_the_pen_a dataset_name: cap_the_pen_a -dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - insert -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Secure the pen cap with the right hand. objects: - object_name: table level1: furniture @@ -35,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_cap_the_pen_a -video_url: ./assets/videos/Cobot_Magic_cap_the_pen_a.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_cap_the_pen_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-51317 dataset_size: 1.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 55 total_frames: 51317 @@ -78,254 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:54 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: on the grey tablecloth, hold the pen cap in one hand and the pen in the other, - then cover the pen cap. +dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Secure the pen cap with the right hand. - Insert the pen into the cap @@ -352,117 +78,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -480,359 +147,3 @@ structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 325 - dataset_name: cap_the_pen_a - dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/cap_the_pen/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cap_the_pen_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cap_the_pen_a - dataset_uuid: null - task_descriptions: - - on the green tablecloth, hold the pen cap in one hand and the pen in the other, - then cover the pen cap. - - on the grey tablecloth, hold the pen cap in one hand and the pen in the other, - then cover the pen cap. - - on the white tablecloth, hold the pen cap in one hand and the pen in the other, - then cover the pen cap. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - insert - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: pen_cap - level1: office_supplies - level2: pen_cap - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 55 - total_frames: 51317 - total_tasks: 1 - total_videos: 165 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:54 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_catch_the_ball.yaml b/dataset_info/Cobot_Magic_catch_the_ball.yaml index 4785e731cb2e9a26d0faf739d2cb8fa62b28f5da..a4b3c2502db0b6992f92c2c96da29c395a9cf68e 100644 --- a/dataset_info/Cobot_Magic_catch_the_ball.yaml +++ b/dataset_info/Cobot_Magic_catch_the_ball.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_catch_the_ball dataset_name: catch_the_ball -dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Put the picked-up object on the table. objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_catch_the_ball -video_url: ./assets/videos/Cobot_Magic_catch_the_ball.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_catch_the_ball.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-57085 dataset_size: 877.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 57085 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the rolling ball descending the slope. +dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the picked-up object on the table. - Grab the rolling spherical object. @@ -326,117 +53,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -454,341 +122,3 @@ structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 288 - dataset_name: catch_the_ball - dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/catch_the_ball/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_catch_the_ball - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: catch_the_ball - dataset_uuid: null - task_descriptions: - - grasp the rolling ball descending the slope. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: ball - level1: toy - level2: ball - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 57085 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml index c8dd5a682b3d09318e83b2a2a1f2cef6a0db3c31..0403f405c05cf2c8cabed9ffc14855db5475eb2c 100644 --- a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_classification_of_fruits_and_vegetables dataset_name: classification_of_fruits_and_vegetables -dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the left arm to grab a carrot and put it into the right plate objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_classification_of_fruits_and_vegetables -video_url: ./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-183132 dataset_size: 9.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 301 total_frames: 183132 @@ -83,263 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:300 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'on blue tablecloth alternately place white carrots eggplants in plates of - different colors. - - on brown tablecloth alternately place white carrots eggplants in plates of different - colors. - - on green tablecloth alternately place white carrots eggplants in plates of different - colors. - - on pink tablecloth alternately place white carrots eggplants in plates of different - colors.' +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to grab a carrot and put it into the right plate - use the right arm to grab a radish and put it into the right plate @@ -367,117 +84,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├──\ \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -496,370 +154,3 @@ structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 261 - dataset_name: classification_of_fruits_and_vegetables - dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/Classification_vegetables-AH202503190002/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_fruits_and_vegetables - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: classification_of_fruits_and_vegetables - dataset_uuid: null - task_descriptions: - - on blue tablecloth alternately place white carrots eggplants in plates of different - colors. - - on brown tablecloth alternately place white carrots eggplants in plates of different - colors. - - on green tablecloth alternately place white carrots eggplants in plates of different - colors. - - on pink tablecloth alternately place white carrots eggplants in plates of different - colors. - - on white tablecloth alternately place white carrots eggplants in plates of different - colors. - - on white black tablecloth alternately place white carrots eggplants in plates - of different colors. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: white_carrot - level1: vegetables - level2: white_carrot - level3: null - level4: null - level5: null - - object_name: eggplant - level1: vegetables - level2: eggplant - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 301 - total_frames: 183132 - total_tasks: 4 - total_videos: 903 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:300 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml index 7c8104f5a245f35339e0049679ffbd56b287e1cc..c9da2931a4d41306e41090634659d1f8fc71a29b 100644 --- a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_classification_of_fruits_and_vegetables_a dataset_name: classification_of_fruits_and_vegetables_a -dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grab a potato with your right arm and put it on the left plate objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_classification_of_fruits_and_vegetables_a -video_url: ./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables_a.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-187645 dataset_size: 10.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 300 total_frames: 187645 @@ -83,260 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:299 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'on pink tablecloth alternately place white carrots eggplants in plates of - different colors. - - on white tablecloth alternately place white carrots eggplants in plates of different - colors. - - on white black tablecloth alternately place white carrots eggplants in plates of - different colors.' +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab a potato with your right arm and put it on the left plate - use the right arm to grab a chayote and put it into the left plate @@ -361,117 +81,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -490,370 +151,3 @@ structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 566 - dataset_name: classification_of_fruits_and_vegetables_a - dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/Classification_vegetables-AH202503190003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_fruits_and_vegetables_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: classification_of_fruits_and_vegetables_a - dataset_uuid: null - task_descriptions: - - on blue tablecloth alternately place white carrots eggplants in plates of different - colors. - - on brown tablecloth alternately place white carrots eggplants in plates of different - colors. - - on green tablecloth alternately place white carrots eggplants in plates of different - colors. - - on pink tablecloth alternately place white carrots eggplants in plates of different - colors. - - on white tablecloth alternately place white carrots eggplants in plates of different - colors. - - on white black tablecloth alternately place white carrots eggplants in plates - of different colors. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: white_carrot - level1: vegetables - level2: white_carrot - level3: null - level4: null - level5: null - - object_name: eggplant - level1: vegetables - level2: eggplant - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 300 - total_frames: 187645 - total_tasks: 3 - total_videos: 900 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:299 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_tableware.yaml b/dataset_info/Cobot_Magic_classification_of_tableware.yaml index 1439cb698c0fc3de06e49059f1983ac264b7c9b4..7ab9608c15d148191e58b94d8c2cd25fce331ea4 100644 --- a/dataset_info/Cobot_Magic_classification_of_tableware.yaml +++ b/dataset_info/Cobot_Magic_classification_of_tableware.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_classification_of_tableware dataset_name: classification_of_tableware -dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the right arm to grab the plate objects: - object_name: table level1: furniture @@ -52,41 +52,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_classification_of_tableware -video_url: ./assets/videos/Cobot_Magic_classification_of_tableware.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_tableware.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-347004 dataset_size: 13.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 406 total_frames: 347004 @@ -95,261 +63,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:405 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'on blue table put chopsticks spoon bowls plates into blue grey white boxes. - - on brown table put chopsticks spoon bowls plates into blue grey white boxes. - - on green table put chopsticks spoon bowls plates into blue grey white boxes. - - on grey table put chopsticks spoon bowls plates into blue grey white boxes. - - on white black table put chopsticks spoon bowls plates into blue grey white boxes.' +dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the right arm to grab the plate - use the right arm to grab a chopstick @@ -381,117 +100,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -510,377 +170,3 @@ structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 264 - dataset_name: classification_of_tableware - dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/closing_bowl_1-AH202505280002/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_tableware - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: classification_of_tableware - dataset_uuid: null - task_descriptions: - - on blue table put chopsticks spoon bowls plates into blue grey white boxes. - - on brown table put chopsticks spoon bowls plates into blue grey white boxes. - - on green table put chopsticks spoon bowls plates into blue grey white boxes. - - on grey table put chopsticks spoon bowls plates into blue grey white boxes. - - on white table put chopsticks spoon bowls plates into blue grey white boxes. - - on white black table put chopsticks spoon bowls plates into blue grey white - boxes. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 406 - total_frames: 347004 - total_tasks: 5 - total_videos: 1218 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:405 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clean_blackboard.yaml b/dataset_info/Cobot_Magic_clean_blackboard.yaml index 62aacd1e1d164623c662448f0c24deb6ca0b5634..d1c1e61d54507c5e210a75b7afdceed883742d41 100644 --- a/dataset_info/Cobot_Magic_clean_blackboard.yaml +++ b/dataset_info/Cobot_Magic_clean_blackboard.yaml @@ -1,14 +1,15 @@ +path: Cobot_Magic_clean_blackboard dataset_name: clean_blackboard -dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b +robot_type: '' +end_effector_type: +- two_finger_gripper scene_type: [] atomic_actions: - grasp - pick - wipe - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the blackboard eraser with the right gripper objects: - object_name: table level1: furniture @@ -28,41 +29,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_clean_blackboard -video_url: ./assets/videos/Cobot_Magic_clean_blackboard.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_clean_blackboard.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-689349 dataset_size: 8.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 938 total_frames: 689349 @@ -71,279 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:937 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pick up the eraser on the blackboard and erase the letter "a". - - pick up the eraser on the blackboard and erase the letter "B".' +dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the blackboard eraser with the right gripper - End @@ -367,141 +69,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -520,371 +139,3 @@ structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 199 - dataset_name: clean_blackboard - dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/clean_blackboard/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clean_blackboard - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_blackboard - dataset_uuid: null - task_descriptions: - - pick up the eraser on the blackboard and erase the letter "a". - - pick up the eraser on the blackboard and erase the letter "B". - atomic_actions: - - grasp - - pick - - wipe - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: blackboard - level1: office_supplies - level2: blackboard - level3: null - level4: null - level5: null - - object_name: blackboard_eraser - level1: office_supplies - level2: blackboard_eraser - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 938 - total_frames: 689349 - total_tasks: 2 - total_videos: 2814 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:937 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml index fdad94840258c3dede698a4fd17eb781f548d4af..027dbb9692beaee64d9ef22b4777d4d6f32acec7 100644 --- a/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml +++ b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_clean_up_the_tableware dataset_name: clean_up_the_tableware -dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: use the left arm to grab a blue teacup objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_clean_up_the_tableware -video_url: ./assets/videos/Cobot_Magic_clean_up_the_tableware.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_clean_up_the_tableware.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-18127 dataset_size: 1.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 33 total_frames: 18127 @@ -89,254 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:32 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the bowls on the plates on the blue tablecloth, put the cups on the bowls, - and place the spoons in the cups. +dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to grab a blue teacup - Grasp the bowl with the left gripper @@ -374,117 +100,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -503,370 +170,3 @@ structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 269 - dataset_name: clean_up_the_tableware - dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/fold_dishes_chopsticks-AH202503210001/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clean_up_the_tableware - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_up_the_tableware - dataset_uuid: null - task_descriptions: - - place bowls on plates on blue tablecloth put cups on bowls spoons in cups. - - place bowls on plates on brown tablecloth put cups on bowls spoons in cups. - - place bowls on plates on green tablecloth put cups on bowls spoons in cups. - - place bowls on plates on grey tablecloth put cups on bowls spoons in cups. - - place bowls on plates on white table put cups on bowls spoons in cups. - - place bowls on plates on white tablecloth put cups on bowls spoons in cups. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 33 - total_frames: 18127 - total_tasks: 1 - total_videos: 99 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:32 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clear_the_desktop.yaml b/dataset_info/Cobot_Magic_clear_the_desktop.yaml index dc8b832d55febb0b7aa1f65397609606e6717591..2a539aef113ce774c8be19ee7ae8cda342a223d1 100644 --- a/dataset_info/Cobot_Magic_clear_the_desktop.yaml +++ b/dataset_info/Cobot_Magic_clear_the_desktop.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_clear_the_desktop dataset_name: clear_the_desktop -dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the tablecloth objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_clear_the_desktop -video_url: ./assets/videos/Cobot_Magic_clear_the_desktop.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_clear_the_desktop.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-157415 dataset_size: 1018.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 293 total_frames: 157415 @@ -71,257 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:292 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'wipe the coffee stains on the table with a green rag. - - wipe the coffee stains on the table with a pink rag. - - wipe the coffee stains on the table with a blue rag.' +dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the tablecloth - Sweep the stains on the table @@ -339,117 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -468,349 +132,3 @@ structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 303 - dataset_name: clear_the_desktop - dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/wipe_the_table/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clear_the_desktop - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clear_the_desktop - dataset_uuid: null - task_descriptions: - - wipe the coffee stains on the table with a green rag. - - wipe the coffee stains on the table with a pink rag. - - wipe the coffee stains on the table with a blue rag. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rag - level1: clothing - level2: rag - level3: null - level4: null - level5: null - - object_name: coffee_stains - level1: garbage - level2: coffee_stains - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 293 - total_frames: 157415 - total_tasks: 3 - total_videos: 879 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:292 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_close_book.yaml b/dataset_info/Cobot_Magic_close_book.yaml index 2c0ee42c1432dd80c333615dab781fcafdcb8b6b..9991071ef1d233b197ead4715579c061606e5f02 100644 --- a/dataset_info/Cobot_Magic_close_book.yaml +++ b/dataset_info/Cobot_Magic_close_book.yaml @@ -1,13 +1,13 @@ +path: Cobot_Magic_close_book dataset_name: close_book -dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - press - close -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_close_book -video_url: ./assets/videos/Cobot_Magic_close_book.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_close_book.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-138451 dataset_size: 2.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 287 total_frames: 138451 @@ -70,258 +38,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:286 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'on the green tablecloth, hold the book with one hand and close it with the - other. - - on the white tablecloth, hold the book with one hand and close it with the other. - - on the grey tablecloth, hold the book with one hand and close it with the other.' +dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - End @@ -336,117 +58,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -464,348 +126,3 @@ structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 320 - dataset_name: close_book - dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/close_book/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_close_book - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: close_book - dataset_uuid: null - task_descriptions: - - on the white tablecloth, hold the book with one hand and close it with the other. - - on the green tablecloth, hold the book with one hand and close it with the other. - - on the grey tablecloth, hold the book with one hand and close it with the other. - scene_type: - - home - atomic_actions: - - press - - close - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: book - level1: office_supplies - level2: book - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 287 - total_frames: 138451 - total_tasks: 3 - total_videos: 861 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:286 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_close_button.yaml b/dataset_info/Cobot_Magic_close_button.yaml index e1420e2dcee83a71a765efdc7c61eb0e7459f62a..6a8d76b70a563b595f1fe867cbb64db519974c18 100644 --- a/dataset_info/Cobot_Magic_close_button.yaml +++ b/dataset_info/Cobot_Magic_close_button.yaml @@ -1,12 +1,12 @@ +path: Cobot_Magic_close_button dataset_name: close_button -dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea -scene_type: -- home -atomic_actions: -- press +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- press +tasks: end objects: - object_name: table level1: furniture @@ -26,41 +26,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_close_button -video_url: ./assets/videos/Cobot_Magic_close_button.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_close_button.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-18136 dataset_size: 1.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 60 total_frames: 18136 @@ -69,267 +37,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:59 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'press the button switch on the cyan tablecloth with the left gripper to turn - off the button. - - press the button switch on the grey tablecloth with the left gripper to turn off - the button. - - press the button switch with the left gripper to turn off the button. - - press the button switch on the cyan tablecloth with the right gripper to turn off - the button. - - press the button switch on the grey tablecloth with the right gripper to turn off - the button. - - press the button switch with the right claw to turn off the button.' +dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea +language: +- en +- zh +task_categories: +- robotics sub_tasks: - end - Press the first switch from the left on the right side. @@ -343,117 +56,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -471,350 +124,3 @@ structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 311 - dataset_name: close_button - dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/press_the_button_switch_to_turn_it_off/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_close_button - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: close_button - dataset_uuid: null - task_descriptions: - - press the button switch with the left gripper to turn off the button. - - left gripper press grey cloth button switch turn off button. - - left gripper press cyan cloth button switch turn off button. - - press the button switch with the right claw to turn off the button. - - right gripper press grey cloth button switch turn off button. - - right gripper press cyan cloth button switch turn off button. - scene_type: - - home - atomic_actions: - - press - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: button - level1: electric_appliance - level2: button - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 60 - total_frames: 18136 - total_tasks: 6 - total_videos: 180 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:59 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cube_reset.yaml b/dataset_info/Cobot_Magic_cube_reset.yaml index 8af4bb329501c027c069617513506b97aaa40868..566c4a7603c54e936fbac847c8ccf09446901147 100644 --- a/dataset_info/Cobot_Magic_cube_reset.yaml +++ b/dataset_info/Cobot_Magic_cube_reset.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_cube_reset dataset_name: cube_reset -dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_cube_reset -video_url: ./assets/videos/Cobot_Magic_cube_reset.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_cube_reset.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-28883 dataset_size: 514.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 28883 @@ -71,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the cube block and place it into the cube groove. +dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Pick up the cube @@ -357,141 +60,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -509,371 +128,3 @@ structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 250 - dataset_name: cube_reset - dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/正方体复位/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cube_reset - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cube_reset - dataset_uuid: null - task_descriptions: - - pick up the cube block and place it into the cube groove. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - - object_name: cube_groove - level1: container - level2: cube_groove - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 28883 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cut_banana.yaml b/dataset_info/Cobot_Magic_cut_banana.yaml index 276797f6d38cae02359f10447fd77ba01c088b6b..a5e3eb73488afdcd0e63fb850881bd5aef52cc9b 100644 --- a/dataset_info/Cobot_Magic_cut_banana.yaml +++ b/dataset_info/Cobot_Magic_cut_banana.yaml @@ -1,16 +1,15 @@ +path: Cobot_Magic_cut_banana dataset_name: cut_banana -dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - cut - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Cut the banana with your left hand. objects: - object_name: table level1: furniture @@ -48,41 +47,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_cut_banana -video_url: ./assets/videos/Cobot_Magic_cut_banana.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_cut_banana.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-310367 dataset_size: 4.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 583 total_frames: 310367 @@ -91,279 +58,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:582 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'cut banana. - - cut plastic banana.' +dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Cut the banana with your left hand. - Cut the banana with your right hand. @@ -383,141 +83,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -535,392 +151,3 @@ structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 191 - dataset_name: cut_banana - dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/cut_banana/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cut_banana - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cut_banana - dataset_uuid: null - task_descriptions: - - cut banana. - - cut plastic banana. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - cut - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: plastic_vegetable_board - level1: tool - level2: plastic_vegetable_board - level3: null - level4: null - level5: null - - object_name: knife_holder - level1: furniture - level2: knife_holder - level3: null - level4: null - level5: null - - object_name: knife - level1: tool - level2: knife - level3: null - level4: null - level5: null - - object_name: fake_banana - level1: toy - level2: fake_banana - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 583 - total_frames: 310367 - total_tasks: 2 - total_videos: 1749 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:582 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_desktop_organization.yaml b/dataset_info/Cobot_Magic_desktop_organization.yaml index 6b0773c4115f68454a9c68b58552e5d637a71278..bb8e91d603a8c7a254164d74a1faa36cac90b716 100644 --- a/dataset_info/Cobot_Magic_desktop_organization.yaml +++ b/dataset_info/Cobot_Magic_desktop_organization.yaml @@ -1,15 +1,14 @@ +path: Cobot_Magic_desktop_organization dataset_name: desktop_organization -dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 -scene_type: -- home -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Hand over the waste paper objects: - object_name: table level1: furniture @@ -167,41 +166,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_desktop_organization -video_url: ./assets/videos/Cobot_Magic_desktop_organization.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_desktop_organization.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-2026628 dataset_size: 32.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 1070 total_frames: 2026628 @@ -210,296 +177,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1069 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the banana on the plate, put the waste paper in the basket, place the - water bottle upright near the plate, put the eraser in the pen holder, put the pen - in the pen holder. - - put the bread on the plate, put the small pieces of paper in the basket, place thecoffee - near the plate, put the pencil sharpener in the pen holder, put the rulerin the - pen holder, put the pen in the pen holder. - - put the pear on the plate, put the waste paper in the basket, place the water bottleupright - near the plate, put the knife in the pen holder, put the ruler in the penholder, - put the pen in the pen holder. - - put the grape on a plate, put the plastic sheet in the basket, place the teacupneatly - near the plate, put the scissor in the pen holder, put the ruler in the penholder, - put the colored glue in the pen holder. - - put the manngo and banana on the fruit tray, put the paper ball in the garbage bin,straighten - the water bottle, put the eraser and pen in the pen holder. - - pick up the green basket, put the cola inside the basket, and then put the basketdown.' +dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand over the waste paper - Place the red pencil sharpener into the pen holder @@ -617,141 +300,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -781,530 +392,3 @@ structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotatio \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 195 - dataset_name: desktop_organization - dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/clean_the_tabletop/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_desktop_organization - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: desktop_organization - dataset_uuid: null - task_descriptions: - - put the banana on the plate, put the waste paper in the basket, place the water - bottle upright near the plate, put the eraser in the pen holder, put the pen - in the pen holder. - - put the pear on the plate, put the waste paper in the basket, place the water - bottleupright near the plate, put the knife in the pen holder, put the ruler - in the penholder, put the pen in the pen holder. - - put the bread on the plate, put the small pieces of paper in the basket, place - thecoffee near the plate, put the pencil sharpener in the pen holder, put the - rulerin the pen holder, put the pen in the pen holder. - - put the grape on a plate, put the plastic sheet in the basket, place the teacupneatly - near the plate, put the scissor in the pen holder, put the ruler in the penholder, - put the colored glue in the pen holder. - - put the manngo and banana on the fruit tray, put the paper ball in the garbage - bin,straighten the water bottle, put the eraser and pen in the pen holder. - - pick up the green basket, put the cola inside the basket, and then put the basketdown. - - put the cola into the green basket. - - pick up the green basket, put the milk inside the basket, and then put the basketdown. - - put the milk into the green basket. - - pick up the green basket, put the spitball inside the basket, and then put the - basketdown. - - put the spitball into the green basket. - scene_type: - - home - - office - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: waste_paper - level1: garbage - level2: waste_paper - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: knife - level1: office_supplies - level2: knife - level3: null - level4: null - level5: null - - object_name: ruler - level1: office_supplies - level2: ruler - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: small_pieces_of_paper - level1: garbage - level2: small_pieces_of_paper - level3: null - level4: null - level5: null - - object_name: coffee - level1: drink - level2: coffee - level3: null - level4: null - level5: null - - object_name: pencil_sharpener - level1: office_supplies - level2: pencil_sharpener - level3: null - level4: null - level5: null - - object_name: grape - level1: fruit - level2: grape - level3: null - level4: null - level5: null - - object_name: plastic_sheet - level1: garbage - level2: plastic_sheet - level3: null - level4: null - level5: null - - object_name: teacup - level1: container - level2: teacup - level3: null - level4: null - level5: null - - object_name: colored_glue - level1: office_supplies - level2: colored_glue - level3: null - level4: null - level5: null - - object_name: scissor - level1: office_supplies - level2: scissor - level3: null - level4: null - level5: null - - object_name: mango - level1: fruit - level2: mango - level3: null - level4: null - level5: null - - object_name: fruit_tray - level1: container - level2: fruit_tray - level3: null - level4: null - level5: null - - object_name: paper_ball - level1: garbage - level2: paper_ball - level3: null - level4: null - level5: null - - object_name: garbage_bin - level1: container - level2: garbage_bin - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: container - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: pen_holder - level1: garbage - level2: spitball - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 1070 - total_frames: 2026628 - total_tasks: 6 - total_videos: 3210 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1069 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml index 9f4830b53854b187c34c2e4bae2e35eae9741c0f..4e291b9b0d520eaf7bd8080187c9b7243b70fd78 100644 --- a/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml +++ b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml @@ -1,16 +1,16 @@ +path: Cobot_Magic_drawer_storage_mineral_water dataset_name: drawer_storage_mineral_water -dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull - push -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Open the drawer. objects: - object_name: table level1: furniture @@ -30,41 +30,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_drawer_storage_mineral_water -video_url: ./assets/videos/Cobot_Magic_drawer_storage_mineral_water.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_drawer_storage_mineral_water.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-55966 dataset_size: 944.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 55966 @@ -73,253 +41,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: open the drawer, place the mineral water bottle inside, then close the drawer. +dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Open the drawer. - Place the water bottle inside the drawer. @@ -333,117 +60,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -462,349 +130,3 @@ structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── a \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 300 - dataset_name: drawer_storage_mineral_water - dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/drawer_storage_mineral_water/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_drawer_storage_mineral_water - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: drawer_storage_mineral_water - dataset_uuid: null - task_descriptions: - - open drawer place mineral water bottle inside close drawer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: drink - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 55966 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_clothes.yaml b/dataset_info/Cobot_Magic_fold_clothes.yaml index 3fbcc9ef12dede575ff97a7912d150be26b311ab..c38229ac26480d0b38718e993a5f5fe13e002767 100644 --- a/dataset_info/Cobot_Magic_fold_clothes.yaml +++ b/dataset_info/Cobot_Magic_fold_clothes.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_fold_clothes dataset_name: fold_clothes -dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_fold_clothes -video_url: ./assets/videos/Cobot_Magic_fold_clothes.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_clothes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-774487 dataset_size: 27.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 584 total_frames: 774487 @@ -71,263 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:583 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'fold a grey long-sleeved shirt over a blue coffee tablecloth. - - fold a grey long-sleeved shirt over the brown coffee tablecloth. - - fold a grey long-sleeved shirt over a green coffee tablecloth. - - fold a grey long-sleeved shirt over a pink coffee tablecloth. - - fold a grey long-sleeved shirt over a white checkered tablecloth. - - fold a grey long-sleeved shirt on a white desktop.' +dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - use the right arm to drag the right edge of the fabric to the left and folds it @@ -363,117 +80,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -491,352 +148,3 @@ structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 273 - dataset_name: fold_clothes - dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/stacked_long_sleeves_gray-AH202506040001/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_clothes - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_clothes - dataset_uuid: null - task_descriptions: - - fold a grey long-sleeved shirt over a blue tablecloth. - - fold a grey long-sleeved shirt over the brown tablecloth. - - fold a grey long-sleeved shirt over a green tablecloth. - - fold a grey long-sleeved shirt over a pink tablecloth. - - fold a grey long-sleeved shirt on a white desktop. - - fold a grey long-sleeved shirt over a white checkered tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: long_sleeves - level1: clothing - level2: long_sleeves - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 584 - total_frames: 774487 - total_tasks: 6 - total_videos: 1752 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:583 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_the_towel.yaml b/dataset_info/Cobot_Magic_fold_the_towel.yaml index 30f178013fa97266f8f806f976d1d495f0204cfc..da5485aad4d1982c51bb6c016bf1af0a497fe874 100644 --- a/dataset_info/Cobot_Magic_fold_the_towel.yaml +++ b/dataset_info/Cobot_Magic_fold_the_towel.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_fold_the_towel dataset_name: fold_the_towel -dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - fold -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +29,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_fold_the_towel -video_url: ./assets/videos/Cobot_Magic_fold_the_towel.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_the_towel.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-235124 dataset_size: 5.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 177 total_frames: 235124 @@ -72,257 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:176 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'fold the pink towel on the table with a white tablecloth. - - fold the pink towel on the table with a grey tablecloth. - - fold the pink towel on the white table.' +dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Fold the towel upwards with the both gripper @@ -341,117 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -469,352 +133,3 @@ structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 326 - dataset_name: fold_the_towel - dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/fold_towel/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_the_towel - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_the_towel - dataset_uuid: null - task_descriptions: - - fold the pink towel on the table with a white tablecloth. - - fold the green towel on the table with a white tablecloth - - fold the pink towel on the table with a grey tablecloth. - - fold the pink towel on the white table. - - fold the pink towel on the table with a green tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - - fold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 177 - total_frames: 235124 - total_tasks: 3 - total_videos: 531 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:176 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_towel_a.yaml b/dataset_info/Cobot_Magic_fold_towel_a.yaml index 99c4f88cea512b117a87ad73b352bb30c1e0a3ab..5d6cb7f6b054f1285885ae8e2af6e591b8030b12 100644 --- a/dataset_info/Cobot_Magic_fold_towel_a.yaml +++ b/dataset_info/Cobot_Magic_fold_towel_a.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_fold_towel_a dataset_name: fold_towel_a -dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - fold -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: pick up the towel with two arm objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_fold_towel_a -video_url: ./assets/videos/Cobot_Magic_fold_towel_a.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_towel_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-50478 dataset_size: 1.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 96 total_frames: 50478 @@ -66,253 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:95 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fold the towel on the table twice. +dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - pick up the towel with two arm - Fold the towel twice on the table @@ -325,117 +52,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -453,342 +120,3 @@ structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 281 - dataset_name: fold_towel_a - dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/fold_towel/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_towel_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 98 - yaml: - dataset_name: fold_towel_a - dataset_uuid: null - task_descriptions: - - fold the towel on the table twice. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - fold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 96 - total_frames: 50478 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:95 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_food_packaging.yaml b/dataset_info/Cobot_Magic_food_packaging.yaml index d33979538bd7f6984711a3cd0312f610882df00d..ae87c384def222200a9243a0fc0d5c9935d806da 100644 --- a/dataset_info/Cobot_Magic_food_packaging.yaml +++ b/dataset_info/Cobot_Magic_food_packaging.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_food_packaging dataset_name: food_packaging -dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d -scene_type: -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pull - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the banana into the package objects: - object_name: table level1: furniture @@ -59,41 +59,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_food_packaging -video_url: ./assets/videos/Cobot_Magic_food_packaging.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_food_packaging.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-1470087 dataset_size: 25.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 798 total_frames: 1470087 @@ -102,279 +70,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:797 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'place lunch box,cucumber and pear into small packaging bag. - - place lunch box,banana and bread into big packaging bag.' +dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the banana into the package - Right hand grabs cucumber. @@ -433,141 +134,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -585,405 +203,3 @@ structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 196 - dataset_name: food_packaging - dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/food_packaging/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_food_packaging - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: food_packaging - dataset_uuid: null - task_descriptions: - - place lunch box,banana and bread into big packaging bag. - - place lunch box,cucumber and pear into small packaging bag. - - put the lunch box,banana and pear into the bag. - - put the lunch box,cucumber and lemon into the bag. - scene_type: - - kitchen - atomic_actions: - - grasp - - pull - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: lunch_box - level1: container - level2: lunch_box - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: pear - level1: fruit - level2: pear - level3: null - level4: null - level5: null - - object_name: cucumber - level1: vegetable - level2: cucumber - level3: null - level4: null - level5: null - - object_name: bag - level1: container - level2: bag - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruit - level2: lemon - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 798 - total_frames: 1470087 - total_tasks: 2 - total_videos: 2394 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:797 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_make_fruit_salad.yaml b/dataset_info/Cobot_Magic_make_fruit_salad.yaml index 5f1baec2b7df4ce0789e113ec37f1eec5fa80e3e..5566903c449bc2688454007bdb8dcd8f23b03ab4 100644 --- a/dataset_info/Cobot_Magic_make_fruit_salad.yaml +++ b/dataset_info/Cobot_Magic_make_fruit_salad.yaml @@ -1,15 +1,14 @@ +path: Cobot_Magic_make_fruit_salad dataset_name: make_fruit_salad -dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the banana in the basket with left gripper objects: - object_name: table level1: furniture @@ -53,41 +52,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_make_fruit_salad -video_url: ./assets/videos/Cobot_Magic_make_fruit_salad.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_make_fruit_salad.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-181253 dataset_size: 3.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 687 total_frames: 181253 @@ -96,285 +63,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:686 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the apple in the black basket. - - put the banana in the black basket. - - put the grape in the black basket. - - put the lemon in the black basket. - - put the mango in the black basket.' +dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the banana in the basket with left gripper - Place the banana in the basket with right gripper @@ -409,141 +103,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -562,400 +173,3 @@ structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 207 - dataset_name: make_fruit_salad - dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/make_fruit_salad/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_make_fruit_salad - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_fruit_salad - dataset_uuid: null - task_descriptions: - - put the apple in the black basket. - - put the banana in the black basket. - - put the grape in the black basket. - - put the lemon in the black basket. - - put the mango in the black basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: bannana - level1: fruit - level2: bannana - level3: null - level4: null - level5: null - - object_name: grape - level1: fruit - level2: grape - level3: null - level4: null - level5: null - - object_name: mango - level1: fruit - level2: mango - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruit - level2: lemon - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 687 - total_frames: 181253 - total_tasks: 5 - total_videos: 2061 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:686 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_make_hamburger.yaml b/dataset_info/Cobot_Magic_make_hamburger.yaml index 313ab05bfa030fef7f87ebe8289b283afd04192a..0a9040ef097c84edf02252027b447706a2c46721 100644 --- a/dataset_info/Cobot_Magic_make_hamburger.yaml +++ b/dataset_info/Cobot_Magic_make_hamburger.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_make_hamburger dataset_name: make_hamburger -dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a -scene_type: -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the purple cabbage on the cutlet with the left gripper objects: - object_name: table level1: furniture @@ -58,41 +58,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_make_hamburger -video_url: ./assets/videos/Cobot_Magic_make_hamburger.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_make_hamburger.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-1591383 dataset_size: 46.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 3044 total_frames: 1591383 @@ -101,302 +69,12 @@ statistics: total_chunks: 4 chunks_size: 1000 fps: 30 -splits: - train: 0:3043 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_realsense_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'make a hamburger with cheese. - - make a hamburger with lettuce. - - make a hamburger with cheese and lettuce. - - place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.' +dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the purple cabbage on the cutlet with the left gripper - Pick up the tomato slice with the left gripper @@ -454,163 +132,105 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_high_realsense_rgb - name: cam_high_realsense_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_realsense_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │\ + \ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├──\ + \ episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n\ + │ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n\ + │ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ \ + \ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├──\ + \ episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n\ + │ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n│ \ + \ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│\ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ \ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └──\ + \ (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ \ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └──\ + \ (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ \ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └──\ + \ (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ \ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ \ + \ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ \ + \ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├──\ + \ episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ + \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├──\ + \ episode_003004.mp4\n └── (...)" structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -675,424 +295,3 @@ structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├──\ \ episode_003004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 200 - dataset_name: make_hamburger - dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/make_hamburger/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_make_hamburger - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_hamburger - dataset_uuid: null - task_descriptions: - - make a hamburger with lettuce. - - make a hamburger with cheese. - - place the sliced bread, cheese, lettuce, meat patties, and tomato slices on - a plate. - - make a hamburger with cheese and lettuce. - scene_type: - - restaurant - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cheese - level1: food - level2: cheese - level3: null - level4: null - level5: null - - object_name: lettuce - level1: food - level2: lettuce - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: sliced_bread - level1: food - level2: sliced_bread - level3: null - level4: null - level5: null - - object_name: meat_pie - level1: food - level2: meat_pie - level3: null - level4: null - level5: null - - object_name: tomato_slices - level1: vegetable - level2: tomato_slices - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 3044 - total_frames: 1591383 - total_tasks: 4 - total_videos: 12176 - total_chunks: 4 - chunks_size: 1000 - fps: 30 - splits: - train: 0:3043 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_realsense_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_mobile_cube.yaml b/dataset_info/Cobot_Magic_mobile_cube.yaml index 6ce017f013a37e30029e284a16dae98f5a95638d..1c4be839cad5f410b2174756a4fa2888a32a9ebc 100644 --- a/dataset_info/Cobot_Magic_mobile_cube.yaml +++ b/dataset_info/Cobot_Magic_mobile_cube.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_mobile_cube dataset_name: mobile_cube -dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_mobile_cube -video_url: ./assets/videos/Cobot_Magic_mobile_cube.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_mobile_cube.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-21487 dataset_size: 347.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 21487 @@ -65,277 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the cube block and place it in another position on the table. +dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Pick up the small cube @@ -349,141 +52,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -501,365 +120,3 @@ structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 249 - dataset_name: mobile_cube - dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/正方体移动位置/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_mobile_cube - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_cube - dataset_uuid: null - task_descriptions: - - pick up the cube block and place it in another position on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 21487 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml index 452ffc7eb60d6701bd2f28bf9d7931c04de8db30..b9b87336f7f44c9fdbc8b001e729b203c8f7226e 100644 --- a/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml +++ b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_mobile_cube_blackboard dataset_name: mobile_cube_blackboard -dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the block at the correct position to assemble the letter S objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_mobile_cube_blackboard -video_url: ./assets/videos/Cobot_Magic_mobile_cube_blackboard.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_mobile_cube_blackboard.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-191398 dataset_size: 3.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 191398 @@ -65,278 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the multiple cubes in two columns one by one and place them in another - position on the table. +dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the block at the correct position to assemble the letter S - out of view @@ -351,141 +53,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -504,366 +123,3 @@ structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 241 - dataset_name: mobile_cube_blackboard - dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动正方体们的位置/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_mobile_cube_blackboard - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: mobile_cube_blackboard - dataset_uuid: null - task_descriptions: - - pick up the multiple cubes in two columns one by one and place them in another - position on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 191398 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_beverage.yaml b/dataset_info/Cobot_Magic_move_beverage.yaml index 93262de9a09ed427afd61f6131a373a5c7dd25bd..44dcbdead2952ce80f69f3a7016ad4668870bff6 100644 --- a/dataset_info/Cobot_Magic_move_beverage.yaml +++ b/dataset_info/Cobot_Magic_move_beverage.yaml @@ -1,16 +1,14 @@ +path: Cobot_Magic_move_beverage dataset_name: move_beverage -dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed -scene_type: -- supermarket -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -36,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_beverage -video_url: ./assets/videos/Cobot_Magic_move_beverage.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_beverage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-31813 dataset_size: 636.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 31813 @@ -79,277 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move one drink among three beverages. +dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the beverage bottle placed at the back of the desk @@ -365,141 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -517,379 +135,3 @@ structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 248 - dataset_name: move_beverage - dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/在三个饮料中移动一个饮料位置/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_beverage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_beverage - dataset_uuid: null - task_descriptions: - - move one drink among three beverages. - scene_type: - - supermarket - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: green_bottle_beverage - level1: drink - level2: green_bottle_beverage - level3: null - level4: null - level5: null - - object_name: red_bottle_beverage - level1: drink - level2: red_bottle_beverage - level3: null - level4: null - level5: null - - object_name: black_bottle_beverage - level1: drink - level2: black_bottle_beverage - level3: null - level4: null - level5: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 31813 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_plate.yaml b/dataset_info/Cobot_Magic_move_plate.yaml index 2d502d38832538574b26106d2ff655df0999ff0d..47f8d6ac623408b94fad81c1f802f5823f424811 100644 --- a/dataset_info/Cobot_Magic_move_plate.yaml +++ b/dataset_info/Cobot_Magic_move_plate.yaml @@ -1,15 +1,14 @@ +path: Cobot_Magic_move_plate dataset_name: move_plate -dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick the container that can hold fruits objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_plate -video_url: ./assets/videos/Cobot_Magic_move_plate.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25309 dataset_size: 459.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 25309 @@ -66,277 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the plate and place it in another position on the table. +dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick the container that can hold fruits - Move the picked object to the right side of the table @@ -349,141 +51,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -501,366 +119,3 @@ structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 233 - dataset_name: move_plate - dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动圆盘位置/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_plate - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 100 - yaml: - dataset_name: move_plate - dataset_uuid: null - task_descriptions: - - pick up the plate and place it in another position on the table. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 25309 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball.yaml b/dataset_info/Cobot_Magic_move_the_ball.yaml index 646aaefddb14522c1b168198cffc31e4138a47a8..cfe12d1b41fb3621e01c320a122b2b46e68b8f7f 100644 --- a/dataset_info/Cobot_Magic_move_the_ball.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_ball dataset_name: move_the_ball -dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 -scene_type: -- industry +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Put the picked-up object on the table. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_ball -video_url: ./assets/videos/Cobot_Magic_move_the_ball.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-58184 dataset_size: 984.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 58184 @@ -71,278 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the ball and place it on the plate, then pick up the ball from the - plate and put it in the center of the table. +dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the picked-up object on the table. - Grab the rolling spherical object. @@ -357,141 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -509,372 +128,3 @@ structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 232 - dataset_name: move_the_ball - dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将小球放到圆盘上，后将小球移动至中央/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 100 - yaml: - dataset_name: move_the_ball - dataset_uuid: null - task_descriptions: - - pick up the ball and place it on the plate, then pick up the ball from the plate - and put it in the center of the table. - scene_type: - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: ball - level1: toy - level2: ball - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 58184 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml index f6db841255f4baf06b7a813de0653fe9b3dffce7..d7a81928c77f7cf9cf78e54578435ef6cca8ce38 100644 --- a/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_ball_and_the_cube_block dataset_name: move_the_ball_and_the_cube_block -dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the sphere on the table objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_ball_and_the_cube_block -video_url: ./assets/videos/Cobot_Magic_move_the_ball_and_the_cube_block.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball_and_the_cube_block.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-23991 dataset_size: 451.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 23991 @@ -71,278 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: remove the small ball from the cube, move the cube and then place the small - ball back on it. +dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the sphere on the table - Place the ball into the sphere recess @@ -361,141 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -514,372 +133,3 @@ structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 253 - dataset_name: move_the_ball_and_the_cube_block - dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将正方体上的小球取下，移动正方体，再放上小球/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball_and_the_cube_block - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_ball_and_the_cube_block - dataset_uuid: null - task_descriptions: - - remove the small ball from the cube, move the cube and then place the small - ball back on it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: ball - level1: toy - level2: ball - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 23991 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball_interference.yaml b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml index 5c4dd33e6d076376983f47825144d8d8915bd4c0..65eb3ffa0589e13da675334f4466521e8b78a2e3 100644 --- a/dataset_info/Cobot_Magic_move_the_ball_interference.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_ball_interference dataset_name: move_the_ball_interference -dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the spherical object on the right side objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_ball_interference -video_url: ./assets/videos/Cobot_Magic_move_the_ball_interference.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball_interference.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25598 dataset_size: 440.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 25598 @@ -71,278 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the ball next to the two cube blocks and place them in another position - on the table. +dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the spherical object on the right side - Place the picked object on the left side of the table @@ -355,141 +57,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -508,372 +127,3 @@ structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 247 - dataset_name: move_the_ball_interference - dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动小球位置（两个正方体干扰）/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball_interference - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_ball_interference - dataset_uuid: null - task_descriptions: - - pick up the ball next to the two cube blocks and place them in another position - on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: ball - level1: toy - level2: ball - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 25598 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_bread.yaml b/dataset_info/Cobot_Magic_move_the_bread.yaml index f53d834f8761e7bba18a77e19c2742cfb69172c8..a6a9f332d159e5fe76062395e88d79256192fbfa 100644 --- a/dataset_info/Cobot_Magic_move_the_bread.yaml +++ b/dataset_info/Cobot_Magic_move_the_bread.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_bread dataset_name: move_the_bread -dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick the yellow bread on the yellow plate objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_bread -video_url: ./assets/videos/Cobot_Magic_move_the_bread.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-57401 dataset_size: 981.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 57401 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the yellow bread and place it into the yellow plate, then retrieve it. +dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick the yellow bread on the yellow plate - Place the yellow bread on the table @@ -332,117 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -460,347 +128,3 @@ structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 297 - dataset_name: move_the_bread - dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_bread - dataset_uuid: null - task_descriptions: - - grasp red bread place into yellow plate retrieve it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 57401 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_cup.yaml b/dataset_info/Cobot_Magic_move_the_cup.yaml index 41156a9e13ddc7f981798c7e75da0c5efd02a80c..bd99f933085a4966180ffa71d8f2abcad7853433 100644 --- a/dataset_info/Cobot_Magic_move_the_cup.yaml +++ b/dataset_info/Cobot_Magic_move_the_cup.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_cup dataset_name: move_the_cup -dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the transparent glass cup objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_cup -video_url: ./assets/videos/Cobot_Magic_move_the_cup.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_cup.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-28338 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 28338 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the transparent glass cup and place it within the blue towel. +dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the transparent glass cup - Place the glass cup on the blue zone @@ -330,117 +57,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -458,347 +125,3 @@ structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 293 - dataset_name: move_the_cup - dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_cup/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_cup - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_cup - dataset_uuid: null - task_descriptions: - - grasp the transparent glass cup and place it within the blue towel. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: glass_cup - level1: container - level2: glass_cup - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 28338 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_plate.yaml b/dataset_info/Cobot_Magic_move_the_plate.yaml index 2b148c0ab88d91e51521f55a0b05d0005fabc2b8..604e716fd28ba04bb7430378645fd26ce937626f 100644 --- a/dataset_info/Cobot_Magic_move_the_plate.yaml +++ b/dataset_info/Cobot_Magic_move_the_plate.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_plate dataset_name: move_the_plate -dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick the container that can hold fruits objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_plate -video_url: ./assets/videos/Cobot_Magic_move_the_plate.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25057 dataset_size: 418.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 25057 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Move the plate that can hold fruits to one side of the table. +dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick the container that can hold fruits - Move the picked object to the right side of the table @@ -324,117 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -452,341 +120,3 @@ structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 299 - dataset_name: move_the_plate - dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_plate/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_plate - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_plate - dataset_uuid: null - task_descriptions: - - move the plate that can hold fruits to the right side of the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 25057 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_small_ball.yaml b/dataset_info/Cobot_Magic_move_the_small_ball.yaml index b7fe9cbc9927847f3ff88a0dbce40e59d0ee7e77..70de92a706be4205666d7e0d779f69079b05e2f7 100644 --- a/dataset_info/Cobot_Magic_move_the_small_ball.yaml +++ b/dataset_info/Cobot_Magic_move_the_small_ball.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_move_the_small_ball dataset_name: move_the_small_ball -dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the spherical object on the right side objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_move_the_small_ball -video_url: ./assets/videos/Cobot_Magic_move_the_small_ball.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_small_ball.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25598 dataset_size: 404.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 25598 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Grasp the spherical object and relocate it to the opposite side. +dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the spherical object on the right side - Place the picked object on the left side of the table @@ -324,117 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -453,341 +121,3 @@ structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 292 - dataset_name: move_the_small_ball - dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_small_ball/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_small_ball - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_small_ball - dataset_uuid: null - task_descriptions: - - grasp the spherical object and relocate it to the left side. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: spherical_object - level1: toy - level2: spherical_object - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 25598 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml index 2463ec394512e2eb086a74cf96f16677d1818a8b..7897911ca2f914a14cd3fd19e15b629f4c9e87ff 100644 --- a/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml +++ b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_movethe_position_of_the_bluetooth dataset_name: movethe_position_of_the_bluetooth -dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place bluetooth earbud on the right side of the table objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_movethe_position_of_the_bluetooth -video_url: ./assets/videos/Cobot_Magic_movethe_position_of_the_bluetooth.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_movethe_position_of_the_bluetooth.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-52508 dataset_size: 850.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 198 total_frames: 52508 @@ -71,255 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:197 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Grasp the bluetooth earphone case and place it on one side of the table. - - Grasp the bluetooth earbud and place it on the other side of the table.' +dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place bluetooth earbud on the right side of the table - Place bluetooth earphone case on the left side of the table @@ -334,117 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -463,348 +129,3 @@ structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 284 - dataset_name: movethe_position_of_the_bluetooth - dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/movethe_position_of_the_bluetooth/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_movethe_position_of_the_bluetooth - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: movethe_position_of_the_bluetooth - dataset_uuid: null - task_descriptions: - - grasp the bluetooth earbud and place it on the right side of the table. - - grasp the bluetooth earphone case and place it on the left side of the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bluetooth_earbud - level1: electronic_products - level2: bluetooth_earbud - level3: null - level4: null - level5: null - - object_name: bluetooth_earphone_case - level1: electronic_products - level2: bluetooth_earphone_case - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 198 - total_frames: 52508 - total_tasks: 2 - total_videos: 594 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:197 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_open_the_shoebox.yaml b/dataset_info/Cobot_Magic_open_the_shoebox.yaml index 78bfc4b3d71f0c3e8d906e0661015a919692b6d2..40517e09a20b7c100ea7c3dc06ae8079709e6f54 100644 --- a/dataset_info/Cobot_Magic_open_the_shoebox.yaml +++ b/dataset_info/Cobot_Magic_open_the_shoebox.yaml @@ -1,13 +1,13 @@ +path: Cobot_Magic_open_the_shoebox dataset_name: open_the_shoebox -dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Open the shoe box objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_open_the_shoebox -video_url: ./assets/videos/Cobot_Magic_open_the_shoebox.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_open_the_shoebox.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-185740 dataset_size: 2.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 299 total_frames: 185740 @@ -64,257 +32,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:298 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'open the shoebox on the white tablecloth. - - open the shoebox on the cyan tablecloth. - - open the shoebox on the table.' +dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Open the shoe box - 'null' @@ -326,117 +49,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -455,342 +119,3 @@ structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 313 - dataset_name: open_the_shoebox - dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/open_the_shoe_box/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_open_the_shoebox - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: open_the_shoebox - dataset_uuid: null - task_descriptions: - - open the shoebox on the table. - - open the shoebox on the white tablecloth. - - open the shoebox on the cyan tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - pull - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 299 - total_frames: 185740 - total_tasks: 3 - total_videos: 897 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:298 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_square_pyramid.yaml b/dataset_info/Cobot_Magic_place_square_pyramid.yaml index fbfc53010a13e820d1e0703f65d19913ffe4015e..1263f20adbf31ee1c16384466406844db16ba7b3 100644 --- a/dataset_info/Cobot_Magic_place_square_pyramid.yaml +++ b/dataset_info/Cobot_Magic_place_square_pyramid.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_place_square_pyramid dataset_name: place_square_pyramid -dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the block onto the cube-shaped block objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_place_square_pyramid -video_url: ./assets/videos/Cobot_Magic_place_square_pyramid.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_square_pyramid.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-25851 dataset_size: 521.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 25851 @@ -71,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the square pyramid from the table and place it on the cube block. +dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the block onto the cube-shaped block - Place the triangular block onto the cube block @@ -356,141 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -509,371 +129,3 @@ structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 235 - dataset_name: place_square_pyramid - dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将四棱锥放到正方体上/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_square_pyramid - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 100 - yaml: - dataset_name: place_square_pyramid - dataset_uuid: null - task_descriptions: - - pick up the square pyramid from the table and place it on the cube block. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - - object_name: square_pyramid - level1: toy - level2: square_pyramid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 25851 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_the_cube_block.yaml b/dataset_info/Cobot_Magic_place_the_cube_block.yaml index c207a26a5114ab65d182af1ebd00bd163b562778..2d2bdd5fc0d0f9ec9104e3d485b8416de97c87ce 100644 --- a/dataset_info/Cobot_Magic_place_the_cube_block.yaml +++ b/dataset_info/Cobot_Magic_place_the_cube_block.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_place_the_cube_block dataset_name: place_the_cube_block -dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place it into the yellow plate objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_place_the_cube_block -video_url: ./assets/videos/Cobot_Magic_place_the_cube_block.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_the_cube_block.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12763 dataset_size: 222.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 58 total_frames: 12763 @@ -71,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:57 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the cube block from the table and put it on the plate. +dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place it into the yellow plate - Grasp the small cube on the table @@ -354,141 +57,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -507,371 +127,3 @@ structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 239 - dataset_name: place_the_cube_block - dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将正方体放到蓝色盘子上/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_the_cube_block - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_cube_block - dataset_uuid: null - task_descriptions: - - pick up the cube block from the table and put it on the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cube_block - level1: toy - level2: cube_block - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 58 - total_frames: 12763 - total_tasks: 1 - total_videos: 174 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:57 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_the_test_tube.yaml b/dataset_info/Cobot_Magic_place_the_test_tube.yaml index 158873a17c2890cec7b9d36fd7d8bd86d6635324..d15befb3e0ca1da29d831ceefb6072abf8c6fad7 100644 --- a/dataset_info/Cobot_Magic_place_the_test_tube.yaml +++ b/dataset_info/Cobot_Magic_place_the_test_tube.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_place_the_test_tube dataset_name: place_the_test_tube -dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the test tubes on the test tube rack with the right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_place_the_test_tube -video_url: ./assets/videos/Cobot_Magic_place_the_test_tube.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_the_test_tube.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-308346 dataset_size: 6.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 364 total_frames: 308346 @@ -77,263 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:363 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'left gripper passes test tube to right gripper places on test tube holder. - - place the test tube on the test tube rack on the desk. - - place the test tube on the test tube rack on the green tablecloth. - - place the test tube on the test tube rack on the grey tablecloth. - - on cyan cloth pass tube from right to left gripper place on stand. - - on white cloth pass tube from right to left gripper place on stand.' +dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the test tubes on the test tube rack with the right gripper - Lift the test tube with the left hand. @@ -357,117 +74,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -486,364 +144,3 @@ structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 317 - dataset_name: place_the_test_tube - dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/place_the_test_tubes/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_the_test_tube - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_test_tube - dataset_uuid: null - task_descriptions: - - pick up the test tube on the white tablecloth with your left hand, hand it to - your right hand, and then place it on the test tube rack. - - pick up the test tube on the table with your left hand, hand it to your right - hand, and then place it on the test tube rack. - - pick up the test tube on the green tablecloth with your left hand, hand it to - your right hand, and then place it on the test tube rack. - - pick up the test tube on the gray tablecloth with your left hand, hand it to - your right hand, and then place it on the test tube rack. - - pick up the test tube on the green tablecloth with your right hand, hand it - to your left hand, and then place it on the test tube rack. - - pick up the test tube on the white tablecloth with your right hand, hand it - to your left hand, and then place it on the test tube rack. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: test_tube - level1: tool - level2: test_tube - level3: null - level4: null - level5: null - - object_name: test_tube_rack - level1: tool - level2: test_tube_rack - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 364 - total_frames: 308346 - total_tasks: 6 - total_videos: 1092 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:363 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storage_apple.yaml b/dataset_info/Cobot_Magic_plate_storage_apple.yaml index 90acd2d42dc6d701176f44900cce0dcd746d72ef..c7eeef999351ad7b406f129fa7dcc7ed0f1fb264 100644 --- a/dataset_info/Cobot_Magic_plate_storage_apple.yaml +++ b/dataset_info/Cobot_Magic_plate_storage_apple.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_plate_storage_apple dataset_name: plate_storage_apple -dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the fruit that can keep the doctor away objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_plate_storage_apple -video_url: ./assets/videos/Cobot_Magic_plate_storage_apple.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storage_apple.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-30676 dataset_size: 605.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 103 total_frames: 30676 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:102 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the apple and place it into the yellow plate. +dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the fruit that can keep the doctor away - Place the picked object into the yellow plate @@ -330,117 +57,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -459,347 +127,3 @@ structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 283 - dataset_name: plate_storage_apple - dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/plate_storage_apple/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storage_apple - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: plate_storage_apple - dataset_uuid: null - task_descriptions: - - grasp the apple and place it into the yellow plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 103 - total_frames: 30676 - total_tasks: 1 - total_videos: 309 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:102 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storage_bread.yaml b/dataset_info/Cobot_Magic_plate_storage_bread.yaml index fb75e3387965c142c2842ead38d99b681e280ff2..e316a974cae3f78f2341588d38a7ebf2435d9965 100644 --- a/dataset_info/Cobot_Magic_plate_storage_bread.yaml +++ b/dataset_info/Cobot_Magic_plate_storage_bread.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_plate_storage_bread dataset_name: plate_storage_bread -dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the yellow bread objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_plate_storage_bread -video_url: ./assets/videos/Cobot_Magic_plate_storage_bread.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storage_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-27875 dataset_size: 515.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 27875 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the yellow bread and place it into the yellow plate. +dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the yellow bread - Place the bread into the yellow plate @@ -330,117 +57,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -459,347 +127,3 @@ structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 294 - dataset_name: plate_storage_bread - dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/plate_storage_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storage_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: plate_storage_bread - dataset_uuid: null - task_descriptions: - - grasp the red bread and place it into the yellow plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 27875 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml index a36a39ca75d45a10f1be8d4aaa16788055e7e060..d334bb94bc643867a224b39ae29c77f4445f3162 100644 --- a/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml +++ b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_plate_storaje_baozi dataset_name: plate_storaje_baozi -dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the baozi on the steamer with left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_plate_storaje_baozi -video_url: ./assets/videos/Cobot_Magic_plate_storaje_baozi.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storaje_baozi.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-261093 dataset_size: 12.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 495 total_frames: 261093 @@ -77,263 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:494 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the steamed buns into the plate on the blue tablecloth. - - put the steamed buns into the plate on the green tablecloth. - - put the steamed buns into the plate on the grey tablecloth. - - put the steamed buns into the plate on the pink tablecloth. - - put the steamed buns into the plate on the white-black tablecloth. - - put the steamed buns into the plate on the white tablecloth.' +dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the baozi on the steamer with left gripper - Abnormal @@ -360,117 +77,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -489,358 +147,3 @@ structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 265 - dataset_name: plate_storaje_baozi - dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/buns_brought_plate-AH202503310006/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storaje_baozi - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: plate_storaje_baozi - dataset_uuid: null - task_descriptions: - - put the steamed buns into the plate on the blue tablecloth. - - put the steamed buns into the plate on the green tablecloth. - - put the steamed buns into the plate on the grey tablecloth. - - put the steamed buns into the plate on the pink tablecloth. - - put the steamed buns into the plate on the white tablecloth. - - put the steamed buns into the plate on the white-black tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: container - level2: steamer - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 495 - total_frames: 261093 - total_tasks: 6 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:494 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pot_storage_steamer.yaml b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml index 8c6baf2117ca6c0319e5fe3f8d484e73978ca4ad..3fc29f87dafb76753988ddf165abf898df88b309 100644 --- a/dataset_info/Cobot_Magic_pot_storage_steamer.yaml +++ b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_pot_storage_steamer dataset_name: pot_storage_steamer -dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: use the left arm to place the steamer lid on the steamer objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pot_storage_steamer -video_url: ./assets/videos/Cobot_Magic_pot_storage_steamer.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pot_storage_steamer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-478978 dataset_size: 19.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 590 total_frames: 478978 @@ -83,264 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:589 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'place the steamer in the pot on the blue tablecloth, and put the lid on the - steamer. - - place the steamer in the pot on the green tablecloth, and put the lid on the steamer. - - place the steamer in the pot on the grey tablecloth, and put the lid on the steamer. - - place the steamer in the pot on the pink tablecloth, and put the lid on the steamer. - - place the steamer in the pot on the white tablecloth, and put the lid on the steamer. - - place the steamer in the pot on the white table, and put the lid on the steamer.' +dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to place the steamer lid on the steamer - use the right arm to lift the steamer closest to it @@ -359,117 +75,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -488,364 +145,3 @@ structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 272 - dataset_name: pot_storage_steamer - dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/place_steamer_pot-AH202503310003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pot_storage_steamer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pot_storage_steamer - dataset_uuid: null - task_descriptions: - - place steamer in pot on blue tablecloth put lid on steamer. - - place steamer in pot on green tablecloth put lid on steamer. - - place steamer in pot on grey tablecloth put lid on steamer. - - place steamer in pot on pink tablecloth put lid on steamer. - - place steamer in pot on white table put lid on steamer. - - place steamer in pot on white tablecloth put lid on steamer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: steamer - level1: container - level2: steamer - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: pot - level1: container - level2: pot - level3: null - level4: null - level5: null - - object_name: lid - level1: daily_necessities - level2: lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 590 - total_frames: 478978 - total_tasks: 6 - total_videos: 1770 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:589 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_drink.yaml b/dataset_info/Cobot_Magic_pour_drink.yaml index 9230fb5b991a428b6a92cf83ec9fc15a5d9413f5..5ac6a37d05d876cb24dbdda10ee23aa88ec6cab7 100644 --- a/dataset_info/Cobot_Magic_pour_drink.yaml +++ b/dataset_info/Cobot_Magic_pour_drink.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_pour_drink dataset_name: pour_drink -dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the black cup with left gripper objects: - object_name: table level1: furniture @@ -89,41 +89,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pour_drink -video_url: ./assets/videos/Cobot_Magic_pour_drink.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_drink.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-862292 dataset_size: 12.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 1613 total_frames: 862292 @@ -132,397 +100,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1612 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'fill the black mug completely with NFC orange juice. - - pour half of the NFC orange juice into the black mug. - - pour three quarters of the NFC orange juice into the black mug. - - pour quarter of the NFC orange juice into the black mug. - - fill the paper cup completely with NFC orange juice. - - pour half of the NFC orange juice into the paper cup. - - pour three quarters of the NFC orange juice into the paper cup. - - pour quarter of the NFC orange juice into the paper cup. - - fill the transparent cup completely with NFC orange juice. - - pour half of the NFC orange juice into the transparent cup. - - pour three quarters of the NFC orange juice into the transparent cup. - - pour quarter of the NFC orange juice into the transparent cup. - - fill the black mug completely with red wine. - - pour half of the red wine into the black mug. - - pour three quarters of the red wine into the black mug. - - pour quarter of the red wine into the black mug. - - fill the paper cup completely with red wine. - - pour half of the red wine into the paper cup. - - pour three quarters of the red wine into the paper cup. - - pour quarter of the red wine into the paper cup. - - fill the transparent cup completely with red wine. - - pour half of the red wine into the transparent cup. - - pour three quarters of the red wine into the transparent cup. - - pour quarter of the red wine into the transparent cup. - - fill the black mug completely with sprite. - - pour half of the sprite into the black mug. - - pour three quarters of the sprite into the black mug. - - pour quarter of the sprite into the black mug. - - fill the paper cup completely with sprite. - - pour half of the sprite into the paper cup. - - pour three quarters of the sprite into the paper cup. - - pour quarter of the sprite into the paper cup. - - fill the transparent cup completely with sprite. - - pour half of the sprite into the transparent cup. - - pour three quarters of the sprite into the transparent cup. - - pour quarter of the sprite into the transparent cup. - - pour the cestbon into the black cup. - - pour the cestbon into the gray cup. - - pour the cestbon into the red cup. - - pour the cestbon into the white cup. - - pour the cestbon into the yellow cup. - - pour the coffee into the black cup. - - pour the coffee into the gray cup. - - pour the coffee into the white cup. - - pour the coffee into the yellow cup. - - pour the coffee into the red cup. - - pour the cola into the black cup. - - pour the cola into the gray cup. - - pour the cola into the red cup. - - pour the cola into the white cup. - - pour the cola into the yellow cup. - - pour the milk into the black cup. - - pour the milk into the gray cup. - - pour the milk into the red cup. - - pour the milk into the white cup. - - pour the milk into the yellow cup. - - pour the sprite into the black cup. - - pour the sprite into the gray cup. - - pour the sprite into the red cup. - - pour the sprite into the yellow cup. - - pour the sprite into the white cup.' +dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the black cup with left gripper - Grasp the white cup with right gripper @@ -589,141 +172,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -753,517 +264,3 @@ structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 192 - dataset_name: pour_drink - dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pour_drink/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_drink - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_drink - dataset_uuid: null - task_descriptions: - - fill the black mug completely with NFC orange juice. - - pour half of the NFC orange juice into the black mug. - - pour three quarters of the NFC orange juice into the black mug. - - pour quarter of the NFC orange juice into the black mug. - - fill the paper cup completely with NFC orange juice. - - pour half of the NFC orange juice into the paper cup. - - pour three quarters of the NFC orange juice into the paper cup. - - pour quarter of the NFC orange juice into the paper cup. - - fill the transparent cup completely with NFC orange juice. - - pour half of the NFC orange juice into the transparent cup. - - pour three quarters of the NFC orange juice into the transparent cup. - - pour quarter of the NFC orange juice into the transparent cup. - - fill the black mug completely with red wine. - - pour half of the red wine into the black mug. - - pour three quarters of the red wine into the black mug. - - pour quarter of the red wine into the black mug. - - fill the paper cup completely with red wine. - - pour half of the red wine into the paper cup. - - pour three quarters of the red wine into the paper cup. - - pour quarter of the red wine into the paper cup. - - fill the transparent cup completely with red wine. - - pour half of the red wine into the transparent cup. - - pour three quarters of the red wine into the transparent cup. - - pour quarter of the red wine into the transparent cup. - - fill the black mug completely with sprite. - - pour half of the sprite into the black mug. - - pour three quarters of the sprite into the black mug. - - pour quarter of the sprite into the black mug. - - fill the paper cup completely with sprite. - - pour half of the sprite into the paper cup. - - pour three quarters of the sprite into the paper cup. - - pour quarter of the sprite into the paper cup. - - fill the transparent cup completely with sprite. - - pour half of the sprite into the transparent cup. - - pour three quarters of the sprite into the transparent cup. - - pour quarter of the sprite into the transparent cup. - - pour the cestbon into the black cup. - - pour the cestbon into the gray cup. - - pour the cestbon into the red cup. - - pour the cestbon into the white cup. - - pour the cestbon into the yellow cup. - - pour the coffee into the black cup. - - pour the coffee into the gray cup. - - pour the coffee into the red cup. - - pour the coffee into the white cup. - - pour the coffee into the yellow cup. - - pour the cola into the black cup. - - pour the cola into the gray cup. - - pour the cola into the red cup. - - pour the cola into the white cup. - - pour the cola into the yellow cup. - - pour the milk into the black cup. - - pour the milk into the gray cup. - - pour the milk into the red cup. - - pour the milk into the white cup. - - pour the milk into the yellow cup. - - pour the sprite into the black cup. - - pour the sprite into the gray cup. - - pour the sprite into the red cup. - - pour the sprite into the white cup. - - pour the sprite into the yellow cup. - - pour the cestbon onto the black tablecloth into the black cup. - - pour the cestbon onto the black tablecloth into the grey cup. - - pour the cestbon onto the black tablecloth into the red cup. - - pour the cestbon onto the black tablecloth into the white cup. - - pour the cestbon onto the black tablecloth into the yellow cup. - - pour the coffee onto the black tablecloth into the black cup. - - pour the coffee onto the black tablecloth into the grey cup. - - pour the coffee onto the black tablecloth into the red cup. - - pour the coffee onto the black tablecloth into the white cup. - - pour the coffee onto the black tablecloth into the yellow cup. - - pour the cola into the black cup on the black tablecloth. - - pour the cola into the grey cup on the black tablecloth. - - pour the cola into the red cup on the black tablecloth. - - pour the cola into the white cup on the black tablecloth. - - pour the cola into the yellow cup on the black tablecloth. - - pour the milk onto the black tablecloth into the black cup. - - pour the milk onto the black tablecloth into the grey cup. - - pour the milk onto the black tablecloth into the red cup. - - pour the milk onto the black tablecloth into the white cup. - - pour the milk onto the black tablecloth into the yellow cup. - - pour sprite into a black cup on a black tablecloth. - - pour sprite into a black cup on a grey tablecloth. - - pour sprite into a black cup on a red tablecloth. - - pour sprite into a black cup on a white tablecloth. - - pour sprite into a black cup on a yellow tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: NFC_orange_juice - level1: drink - level2: NFC_orange_juice - level3: null - level4: null - level5: null - - object_name: red_wine - level1: drink - level2: red_wine - level3: null - level4: null - level5: null - - object_name: sprite - level1: drink - level2: sprite - level3: null - level4: null - level5: null - - object_name: black_mug - level1: container - level2: black_mug - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: container - level2: paper_cup - level3: null - level4: null - level5: null - - object_name: transparent_cup - level1: container - level2: transparent_cup - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: cestbon - level1: drink - level2: cestbon - level3: null - level4: null - level5: null - - object_name: coffee - level1: drink - level2: coffee - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 1613 - total_frames: 862292 - total_tasks: 61 - total_videos: 4839 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1612 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_water_a.yaml b/dataset_info/Cobot_Magic_pour_water_a.yaml index 3abaf2adc51417f3ab9a6d3899e83297786cf967..7d82e193c7e9ff372993d0dcf97bb271f121d37f 100644 --- a/dataset_info/Cobot_Magic_pour_water_a.yaml +++ b/dataset_info/Cobot_Magic_pour_water_a.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_pour_water_a dataset_name: pour_water_a -dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grab the paper cup on the right. objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pour_water_a -video_url: ./assets/videos/Cobot_Magic_pour_water_a.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_water_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-1302424 dataset_size: 13.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 896 total_frames: 1302424 @@ -89,299 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:895 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Pick up a paper cup and a bottle of Nongfu Spring mineral water, pour the - water into the paper cup, and then place both back on the table. - - Pick up a paper cup and a Yibao mineral water, pour the water into the paper cup, - and then place both back on the table. - - Pick up a paper cup and a Yibao mineral water, pour the water into the paper cup, - and then place both back on the table. - - Pick up a paper cup and a Nongfu Spring mineral water bottle, pour the water into - the paper cup, and then place both back on the table. - - Pick up a paper cup and a Nongfu Spring water bottle, pour the water into one of - them, and then put both down. - - Pick up a paper cup and a Yibao mineral water, pour water into one of them, and - then put both down. - - Pick up the blue paper cup and the Wahaha mineral water bottle, pour an appropriate - amount of water into the paper cup, and then put both down. - - Pick up the blue paper cup and the Bai Suishan mineral water bottle, pour an appropriate - amount of water into the paper cup, and then put both down.' +dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab the paper cup on the right. - Lift the paper cup on the right. @@ -433,141 +114,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -585,425 +182,3 @@ structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 202 - dataset_name: pour_water_a - dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pour_water/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_water_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_water_a - dataset_uuid: null - task_descriptions: - - pick up the paper cup with your left hand and the yibao mineral water with your - right hand. after holding both items by their ends, pour water into one of them, - then put down the paper cup and the yibao mineral water. - - pick up the paper cup with your left hand and the nongfu spring water bottle - with your right hand. after grabbing both items by their ends, pour the water - into one of them, then put down the paper cup and the nongfu spring water bottle. - - with the left hand, pick up the blue paper cup, with the right hand pick up - the wahaha mineral water bottle, pour an appropriate amount of water from the - right hand into the left hand paper cup, put down the blue paper cup with the - left hand, and put down the wahaha mineral water bottle with the right hand. - - pick up the blue paper cup with your left hand, then pick up the bai suishan - mineral water bottle with your right hand. pour an appropriate amount of water - from your right hand into the paper cup in your left hand. first, put down the - blue paper cup with your left hand, then put down the bai suishan mineral water - bottle with your right hand. - - pick up the yellow paper cup with the left hand, pick up the bai suishan mineral - water bottle with the right hand, pour an appropriate amount of water from the - right hand into the left hand's cup, first put down the yellow paper cup with - the left hand, and then put down the bai suishan mineral water bottle with the - right hand. - - with the left hand, pick up the yellow paper cup, and with the right hand, pick - up the wahaha mineral water bottle. pour an appropriate amount of water from - the right hand into the paper cup in the left hand, then first put down the - yellow paper cup with the left hand, and finally put down the wahaha mineral - water bottle with the right hand. - - pick up the paper cup with the left hand and the yibao mineral water with the - right hand, pour the water into the paper cup, and then place them back on the - table. - - picking up a paper cup with the left hand and a bottle of nongfu spring mineral - water with the right hand, pouring the water into the paper cup, and then placing - them back on the table after completing. - - pick up the paper cup with your right hand and the yibao mineral water with - your left hand, pour the water into the paper cup, and then place them back - on the table. - - picking up a paper cup with the right hand and a nongfu spring mineral water - bottle with the left hand, pour the water into the paper cup, and then place - them back on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: nongfu_spring_mineral_water - level1: drink - level2: nongfu_spring_mineral_water - level3: null - level4: null - level5: null - - object_name: yibao_mineral_water - level1: drink - level2: yibao_mineral_water - level3: null - level4: null - level5: null - - object_name: baisui_mountain_mineral_water - level1: drink - level2: baisui_mountain_mineral_water - level3: null - level4: null - level5: null - - object_name: wahaha_mineral_water - level1: drink - level2: wahaha_mineral_water - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 896 - total_frames: 1302424 - total_tasks: 8 - total_videos: 2688 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:895 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_water_bottle.yaml b/dataset_info/Cobot_Magic_pour_water_bottle.yaml index 12ed69943ccdcedb2acc7e21e76cc110e2752e20..c59b7cf141720059e6f5c05fb7ac173fb97b6d42 100644 --- a/dataset_info/Cobot_Magic_pour_water_bottle.yaml +++ b/dataset_info/Cobot_Magic_pour_water_bottle.yaml @@ -1,16 +1,15 @@ +path: Cobot_Magic_pour_water_bottle dataset_name: pour_water_bottle -dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - pour - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pour_water_bottle -video_url: ./assets/videos/Cobot_Magic_pour_water_bottle.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_water_bottle.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-43905 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 92 total_frames: 43905 @@ -79,277 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:91 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the water bottle and pour the water in it into the glass +dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the mineral water bottle @@ -368,141 +70,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -521,379 +140,3 @@ structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 243 - dataset_name: pour_water_bottle - dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/倒水/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_water_bottle - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_water_bottle - dataset_uuid: null - task_descriptions: - - pick up the water bottle and pour the water in it into the glass - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - pour - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 92 - total_frames: 43905 - total_tasks: 1 - total_videos: 276 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:91 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_prepare_breakfast.yaml b/dataset_info/Cobot_Magic_prepare_breakfast.yaml index 9d6a3af49dc37e4c65bf701bde333061d08e15ed..c50cf1b3c6a26495d9bea26b01f3faed37f1b6af 100644 --- a/dataset_info/Cobot_Magic_prepare_breakfast.yaml +++ b/dataset_info/Cobot_Magic_prepare_breakfast.yaml @@ -1,15 +1,14 @@ +path: Cobot_Magic_prepare_breakfast dataset_name: prepare_breakfast -dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the apple on the plate with left gripper objects: - object_name: table level1: furniture @@ -53,41 +52,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_prepare_breakfast -video_url: ./assets/videos/Cobot_Magic_prepare_breakfast.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_prepare_breakfast.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-125115 dataset_size: 1.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 565 total_frames: 125115 @@ -96,285 +63,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:564 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pick up the apple and put it in the plate. - - pick up the croissant and put it in the plate. - - pick up the egg and put it in the plate. - - pick up the milk and place it next to the plate. - - pick up the cola and place it next to the plate.' +dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the apple on the plate with left gripper - Place the round bread on the plate with left gripper @@ -410,141 +104,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -563,400 +174,3 @@ structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 198 - dataset_name: prepare_breakfast - dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/prepare_breakfast/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_prepare_breakfast - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: prepare_breakfast - dataset_uuid: null - task_descriptions: - - pick up the apple and put it in the plate. - - pick up the egg and put it in the plate. - - pick up the croissant and put it in the plate. - - pick up the cola and place it next to the plate. - - pick up the milk and place it next to the plate. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: egg - level1: food - level2: egg - level3: null - level4: null - level5: null - - object_name: croissant - level1: food - level2: croissant - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 565 - total_frames: 125115 - total_tasks: 5 - total_videos: 1695 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:564 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pull_zipper.yaml b/dataset_info/Cobot_Magic_pull_zipper.yaml index 07f55ae0bc33f927861f0e1a48ad2e1614f451b2..d013ae1657f7c4d9fcd94f6cd58d083fdb7761ec 100644 --- a/dataset_info/Cobot_Magic_pull_zipper.yaml +++ b/dataset_info/Cobot_Magic_pull_zipper.yaml @@ -1,13 +1,13 @@ +path: Cobot_Magic_pull_zipper dataset_name: pull_zipper -dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pull the zipper with right gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pull_zipper -video_url: ./assets/videos/Cobot_Magic_pull_zipper.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pull_zipper.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-836317 dataset_size: 11.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 1868 total_frames: 836317 @@ -64,287 +32,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1867 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pull up zipper of the bag. - - pull up zipper of the black bag. - - pull open zipper of the black bag. - - pull up zipper of the white bag. - - pull up zipper of the yellow bag. - - pull open zipper of the yellow bag.' +dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pull the zipper with right gripper - Pull open the zipper with your left hand. @@ -368,141 +61,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -532,369 +153,3 @@ structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 257 - dataset_name: pull_zipper - dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pull_zipper/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pull_zipper - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pull_zipper - dataset_uuid: null - task_descriptions: - - pull up zipper of the bag. - - pull up zipper of the black bag. - - pull open zipper of the black bag. - - pull up zipper of the white bag. - - pull up zipper of the yellow bag. - - pull open zipper of the yellow bag. - scene_type: - - home - atomic_actions: - - grasp - - pull - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bag - level1: container - level2: bag - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - device_model:- agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 1868 - total_frames: 836317 - total_tasks: 6 - total_videos: 5604 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1867 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pushing_magnet.yaml b/dataset_info/Cobot_Magic_pushing_magnet.yaml index da5bd488a66de32c6a0ac4a78156995e040f8338..b07f279a3d458e3c2b04c779465d06b533eb0c88 100644 --- a/dataset_info/Cobot_Magic_pushing_magnet.yaml +++ b/dataset_info/Cobot_Magic_pushing_magnet.yaml @@ -1,12 +1,12 @@ +path: Cobot_Magic_pushing_magnet dataset_name: pushing_magnet -dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 -scene_type: -- home -atomic_actions: -- push +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- push +tasks: End objects: - object_name: table level1: furniture @@ -20,41 +20,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_pushing_magnet -video_url: ./assets/videos/Cobot_Magic_pushing_magnet.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_pushing_magnet.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-23553 dataset_size: 423.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 23553 @@ -63,277 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: push the magnet on the table from its original position to another position. +dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Push the magnet on the right to connect the magnet on the left @@ -346,141 +49,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -498,363 +118,3 @@ structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 246 - dataset_name: pushing_magnet - dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/推磁铁/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pushing_magnet - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pushing_magnet - dataset_uuid: null - task_descriptions: - - push the magnet on the table from its original position to another position. - scene_type: - - home - atomic_actions: - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: magnet - level1: tool - level2: magnet - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 23553 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_put_in_the_pear.yaml b/dataset_info/Cobot_Magic_put_in_the_pear.yaml index 15f46007eb727b2a9e90800714bb0a8f4ab7c201..bcb8eac2827ef48df5b20cd8abb44b647ede680f 100644 --- a/dataset_info/Cobot_Magic_put_in_the_pear.yaml +++ b/dataset_info/Cobot_Magic_put_in_the_pear.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_put_in_the_pear dataset_name: put_in_the_pear -dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the high-fiber fruit objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_put_in_the_pear -video_url: ./assets/videos/Cobot_Magic_put_in_the_pear.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_put_in_the_pear.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-21690 dataset_size: 461.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 97 total_frames: 21690 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:96 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Grasp the pear and place it on one side of the table. +dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the high-fiber fruit - abnormal @@ -325,117 +52,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -454,341 +122,3 @@ structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 286 - dataset_name: put_in_the_pear - dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/put_in_the_pear/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_put_in_the_pear - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_in_the_pear - dataset_uuid: null - task_descriptions: - - grasp the pear and place it on the right side of the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pear - level1: fruit - level2: pear - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 97 - total_frames: 21690 - total_tasks: 1 - total_videos: 291 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:96 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml index e88226d278e288b3873557bc106f6a01d8d24308..ccfb0eea2abdc3eccff6180145fb815bcfaf0f9f 100644 --- a/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml +++ b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_put_the_building_block_on_the_table dataset_name: put_the_building_block_on_the_table -dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - rotate -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the rotating cube-shaped block on the turntable objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_put_the_building_block_on_the_table -video_url: ./assets/videos/Cobot_Magic_put_the_building_block_on_the_table.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_put_the_building_block_on_the_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-19816 dataset_size: 400.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 19816 @@ -66,253 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: grasp the rotating cube-shaped block on the turntable and place it on the table. +dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the rotating cube-shaped block on the turntable - Place the cube on the desk @@ -326,117 +53,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -455,342 +123,3 @@ structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 289 - dataset_name: put_the_building_block_on_the_table - dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/turn_the_building_block/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_put_the_building_block_on_the_table - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_the_building_block_on_the_table - dataset_uuid: null - task_descriptions: - - grasp the rotating cube shaped block on the turntable and place it on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - rotate - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_block - level1: toy - level2: building_block - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 19816 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml index 465ef5fad17ecdac5b5e2bb377b492f86b46c14a..ee0f77a42a17452f159a66dcde2cf45c7e3e315c 100644 --- a/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml +++ b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_steamer_storage_dumpling dataset_name: steamer_storage_dumpling -dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: use the left arm to put the dumpling into the steamer objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_steamer_storage_dumpling -video_url: ./assets/videos/Cobot_Magic_steamer_storage_dumpling.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_steamer_storage_dumpling.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-417589 dataset_size: 19.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 580 total_frames: 417589 @@ -77,263 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:579 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the dumplings into the steamer on the table with the blue tablecloth. - - put the dumplings into the steamer on the table with the brown tablecloth. - - put the dumplings into the steamer on the table with the grey tablecloth. - - put the dumplings into the steamer on the table with the pink tablecloth. - - put the dumplings into the steamer on the white table. - - put the dumplings into the steamer on the table with the white tablecloth.' +dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to put the dumpling into the steamer - Abnormal @@ -354,117 +71,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -483,358 +141,3 @@ structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 266 - dataset_name: steamer_storage_dumpling - dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/dumplings_drawer_AH202503310002/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_steamer_storage_dumpling - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: steamer_storage_dumpling - dataset_uuid: null - task_descriptions: - - put the dumplings into the steamer on the table with the blue tablecloth. - - put the dumplings into the steamer on the table with the brown tablecloth. - - put the dumplings into the steamer on the table with the grey tablecloth. - - put the dumplings into the steamer on the table with the pink tablecloth. - - put the dumplings into the steamer on the white table. - - put the dumplings into the steamer on the table with the white tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: dumplings - level1: food - level2: dumplings - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: steamer - level1: container - level2: steamer - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 580 - total_frames: 417589 - total_tasks: 6 - total_videos: 1740 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:579 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_storage_plate.yaml b/dataset_info/Cobot_Magic_storage_plate.yaml index 5b318b04807e65b46f57368d0fd6f82e48ce8c71..272034cf3392de7dfddf43170224641d5c32cc04 100644 --- a/dataset_info/Cobot_Magic_storage_plate.yaml +++ b/dataset_info/Cobot_Magic_storage_plate.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_storage_plate dataset_name: storage_plate -dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Left grab the white plate. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_storage_plate -video_url: ./assets/videos/Cobot_Magic_storage_plate.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_storage_plate.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-57019 dataset_size: 903.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 84 total_frames: 57019 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:83 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the plate on the shelf on the green table. +dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Left grab the white plate. - Left grab the gray plate. @@ -348,117 +75,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -476,368 +144,3 @@ structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 332 - dataset_name: storage_plate - dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/place_plate_on_rack/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_storage_plate - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_test_tube - dataset_uuid: null - task_descriptions: - - pick up the test tube on the green tablecloth with your left hand hand it to - your right hand and then place it on the test tube rack. - - pick up the test tube on the green tablecloth with your right hand hand it to - your left hand and then place it on the test tube rack. - - pick up the test tube on the black tablecloth with your left hand hand it to - your right hand and then place it on the test tube rack. - - pick up the test tube on the black tablecloth with your right hand hand it to - your left hand and then place it on the test tube rack. - - pick up the test tube on the table with your left hand hand it to your right - hand and then place it on the test tube rack. - - pick up the test tube on the table with your right hand hand it to your left - hand and then place it on the test tube rack. - - the left hand picks up a test tube from the gray tablecloth hands it to the - right hand and then places it on the test tube rack. - - the right hand picks up a test tube from the gray tablecloth hands it to the - left hand and then places it on the test tube rack. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rack - level1: furniture - level2: rack - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 84 - total_frames: 57019 - total_tasks: 1 - total_videos: 252 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:83 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml index 7d3b082a53304df8cf809879ba81a4a8eeffe8ce..37b92872069344b1a7cdfb70fa86a46160991ef2 100644 --- a/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml +++ b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml @@ -1,15 +1,14 @@ +path: Cobot_Magic_take_out_a_pen_from_the_pen_holder dataset_name: take_out_a_pen_from_the_pen_holder -dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d -scene_type: -- office -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the pen on the table with the left gripper objects: - object_name: table level1: furniture @@ -35,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_take_out_a_pen_from_the_pen_holder -video_url: ./assets/videos/Cobot_Magic_take_out_a_pen_from_the_pen_holder.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_out_a_pen_from_the_pen_holder.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-225692 dataset_size: 6.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 488 total_frames: 225692 @@ -78,261 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:487 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the pen in the pen holder on the white table with the left gripper. - - place the pen in the pen holder on the grey table with the left gripper. - - place the pen in the pen holder on the grey table with the right gripper. - - put the pen in the pen holder on the green table with the right gripper. - - put the pen in the pen holder on the white table with the right gripper.' +dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pen on the table with the left gripper - Abnormal @@ -351,117 +69,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb_rgb - name: cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb_rgb - name: cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -480,359 +139,3 @@ structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 310 - dataset_name: take_out_a_pen_from_the_pen_holder - dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/take_out_a_pen_from_the_pen_holder/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_out_a_pen_from_the_pen_holder - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_out_a_pen_from_the_pen_holder - dataset_uuid: null - task_descriptions: - - place the pen in the pen holder on the grey tablecloth with the left gripper. - - put the pen in the pen holder on the green tablecloth with the left gripper. - - put the pen in the pen holder on the white tablecloth with the left gripper. - - place the pen in the pen holder on the grey tablecloth with the right gripper. - - put the pen in the pen holder on the green tablecloth with the right gripper. - - put the pen in the pen holder on the white table with the right gripper. - scene_type: - - office - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: pen_holder - level1: office_supplies - level2: pen_holder - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: fabric - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 488 - total_frames: 225692 - total_tasks: 5 - total_videos: 1464 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:487 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_out_the_bread.yaml b/dataset_info/Cobot_Magic_take_out_the_bread.yaml index 549c3d4bc8afa298d49c130058ad6e9b5a709d2d..e2abe93211a628741a83100c36b2c34ba824b8c7 100644 --- a/dataset_info/Cobot_Magic_take_out_the_bread.yaml +++ b/dataset_info/Cobot_Magic_take_out_the_bread.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_take_out_the_bread dataset_name: take_out_the_bread -dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: use the right arm to put a slice of bread into the plate objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_take_out_the_bread -video_url: ./assets/videos/Cobot_Magic_take_out_the_bread.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_out_the_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-333147 dataset_size: 15.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 588 total_frames: 333147 @@ -83,263 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:587 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'take toasted bread from bread machine on blue coffee table place on plate. - - take toasted bread from bread machine on light coffee tablecloth place on plate. - - take toasted bread from bread machine on green coffee tablecloth place on plate. - - take toasted bread from bread machine on grey coffee table place on plate. - - take toasted bread from bread machine on white checkered table place on plate. - - take toasted bread from bread machine on white table place on plate.' +dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the right arm to put a slice of bread into the plate - use the left arm to put a slice of bread into the empty plate @@ -354,117 +71,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -483,364 +141,3 @@ structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 146 - dataset_name: take_out_the_bread - dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/remove_toast_AH202503120004/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_out_the_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_out_the_bread - dataset_uuid: null - task_descriptions: - - take toasted bread from bread machine on blue coffee table place on plate. - - take toasted bread from bread machine on light coffee tablecloth place on plate. - - take toasted bread from bread machine on green coffee tablecloth place on plate. - - take toasted bread from bread machine on grey coffee table place on plate. - - take toasted bread from bread machine on white table place on plate. - - take toasted bread from bread machine on white checkered table place on plate. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread_machine - level1: kitchenware - level2: bread_machine - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 588 - total_frames: 333147 - total_tasks: 6 - total_videos: 1764 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:587 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml index b7d87a446a364bc24196aa39e4590cc689fe7741..f56141b28629a3a153114b03c585a36dce54f2a3 100644 --- a/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml +++ b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_take_the_shoes_off_the_shelf dataset_name: take_the_shoes_off_the_shelf -dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the right arm to clamp a shoe in the middle of the shoe rack objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_take_the_shoes_off_the_shelf -video_url: ./assets/videos/Cobot_Magic_take_the_shoes_off_the_shelf.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_the_shoes_off_the_shelf.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-321834 dataset_size: 18.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 595 total_frames: 321834 @@ -71,263 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:594 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'take the shoes off the shelf with your hand from the blue coffee tablecloth. - - take the shoes off the shelf from the light coffee tablecloth by hand. - - take the shoes off the shelf with your hand from the green coffee tablecloth. - - take the shoes off the shelf with your hand from the grey coffee tablecloth. - - take the shoes off the shelf with your hand from the white checkered tablecloth. - - take the shoes off the shelf with your hand on the white table.' +dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the right arm to clamp a shoe in the middle of the shoe rack - use the right arm to take out the clamped shoe from the shoe rack and put it down @@ -347,117 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -476,352 +134,3 @@ structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── a \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 277 - dataset_name: take_the_shoes_off_the_shelf - dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_shoes_off_rack-AH202504280002/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_the_shoes_off_the_shelf - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_the_shoes_off_the_shelf - dataset_uuid: null - task_descriptions: - - take the shoes off the shelf with your hand from the blue tablecloth. - - take the shoes off the shelf from the light coffee tablecloth by hand. - - take the shoes off the shelf with your hand from the green tablecloth. - - take the shoes off the shelf with your hand from the grey tablecloth. - - take the shoes off the shelf with your hand on the white table. - - take the shoes off the shelf with your hand from the white checkered tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: shoes - level1: clothing - level2: shoes - level3: null - level4: null - level5: null - - object_name: shoe_rack - level1: furniture - level2: shoe_rack - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 595 - total_frames: 321834 - total_tasks: 6 - total_videos: 1785 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:594 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml index 074f7e555c3e43a51a8f6cabecded703300c5ed3..c68d71b6700943924e3a6d0c37fb4de335699297 100644 --- a/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml +++ b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_the_box_stores_table_tennis_balls dataset_name: the_box_stores_table_tennis_balls -dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the right arm to clamp the table tennis ball closest to it objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_the_box_stores_table_tennis_balls -video_url: ./assets/videos/Cobot_Magic_the_box_stores_table_tennis_balls.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_box_stores_table_tennis_balls.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-438756 dataset_size: 19.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 477 total_frames: 438756 @@ -77,261 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:476 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the table tennis balls in the box on the blue coffee tablecloth. - - put the table tennis balls in the box on the green coffee tablecloth. - - put the table tennis balls into the box on the light coffee tablecloth. - - put the table tennis balls into the box on the grey coffee tablecloth. - - put the table tennis balls into the box on the white checkered tablecloth.' +dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the right arm to clamp the table tennis ball closest to it - use the right arm to put the table tennis ball into the box @@ -346,117 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -475,358 +135,3 @@ structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 279 - dataset_name: the_box_stores_table_tennis_balls - dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/storing_table_tennis_balls-AH202504280003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_box_stores_table_tennis_balls - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: the_box_stores_table_tennis_balls - dataset_uuid: null - task_descriptions: - - put the table tennis balls in the box on the blue tablecloth. - - put the table tennis balls in the box on the green tablecloth. - - put the table tennis balls into the box on the light coffee tablecloth. - - put the table tennis balls into the box on the grey tablecloth. - - put the table tennis balls into the box on the white table. - - put the table tennis balls into the box on the white checkered tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: table_tennis - level1: toy - level2: table_tennis - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 477 - total_frames: 438756 - total_tasks: 5 - total_videos: 1431 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:476 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml index 448172d511d039760e93a4cd54f5f74ddacab641..1f97d0fd0e940fffdfb633629718921c76cefe8a 100644 --- a/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_the_plate_holds_the_fruit dataset_name: the_plate_holds_the_fruit -dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: use the left arm to grab a banana from the bag objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_the_plate_holds_the_fruit -video_url: ./assets/videos/Cobot_Magic_the_plate_holds_the_fruit.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_plate_holds_the_fruit.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-190455 dataset_size: 8.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 525 total_frames: 190455 @@ -77,268 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:524 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'take the fruit out of the cloth bag on the blue coffee tablecloth and place - them on the plate. - - take the fruit out of the bag on the brown coffee tablecloth and place them on the - plate. - - take the fruit out of the bag on the green coffee tablecloth and place them on the - plate. - - take the fruit out of the bag on the grey coffee tablecloth and place them on the - plate. - - take the fruit out of the cloth bag on the white table and place them on a plate. - - take the fruit out of the bag on the white checkered tablecloth and place them on - the plate.' +dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to grab a banana from the bag - use the right arm to grab a kiwi from the bag @@ -381,117 +93,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -510,358 +163,3 @@ structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 274 - dataset_name: the_plate_holds_the_fruit - dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_out_fruits-AH202503190004/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_plate_holds_the_fruit - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: the_plate_holds_the_fruit - dataset_uuid: null - task_descriptions: - - take fruit from cloth bag on blue tablecloth place on plate. - - take fruit from bag on brown tablecloth place on plate. - - take fruit from bag on green tablecloth place on plate. - - take fruit from bag on grey tablecloth place on plate. - - take fruit from cloth bag on white table place on plate. - - take fruit from bag on white checkered tablecloth place on plate. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: fruit - level1: food - level2: fruit - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 525 - total_frames: 190455 - total_tasks: 6 - total_videos: 1575 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:524 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml index e2d62d0abb01c392c5ecc655e149b8bd4b7fd72b..11db86c0ce5619e26e84e3d4672cead999f97818 100644 --- a/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_the_plate_holds_the_vegetables dataset_name: the_plate_holds_the_vegetables -dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the pumpkin on the plate with right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_the_plate_holds_the_vegetables -video_url: ./assets/videos/Cobot_Magic_the_plate_holds_the_vegetables.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_plate_holds_the_vegetables.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-179090 dataset_size: 8.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 505 total_frames: 179090 @@ -77,263 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:504 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'take vegetables from cloth bag on blue coffee tablecloth place on plate. - - take vegetables from bag on green coffee tablecloth place on plate. - - take vegetables from bag on grey coffee tablecloth place on plate. - - take vegetables from bag on pink coffee tablecloth place on plate. - - take vegetables from cloth bag on white table place on plate. - - take vegetables from bag on white checkered tablecloth place on plate.' +dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pumpkin on the plate with right gripper - Place the radish on the plate with right gripper @@ -374,117 +91,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -503,358 +161,3 @@ structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 275 - dataset_name: the_plate_holds_the_vegetables - dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_out_vegetables-AH202503190003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_plate_holds_the_vegetables - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: the_plate_holds_the_vegetables - dataset_uuid: null - task_descriptions: - - take vegetables from cloth bag on blue tablecloth place on plate. - - take vegetables from bag on green tablecloth place on plate. - - take vegetables from bag on grey tablecloth place on plate. - - take vegetables from bag on pink tablecloth place on plate. - - take vegetables from cloth bag on white table place on plate. - - take vegetables from bag on white checkered tablecloth place on plate. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: vegetables - level1: food - level2: vegetables - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 505 - total_frames: 179090 - total_tasks: 6 - total_videos: 1515 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:504 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml index 457e1ad17d7b77f5d0c928fd02733b4296e48471..ac30eaec70b2d6e2443b7f33a68aefa7dd63b840 100644 --- a/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml +++ b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml @@ -1,12 +1,12 @@ +path: Cobot_Magic_turn_off_the_desk_lamp dataset_name: turn_off_the_desk_lamp -dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f -scene_type: -- home -atomic_actions: -- pressbutton +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: null +scene_type: [] +atomic_actions: +- pressbutton +tasks: use the left arm to press the button switch on the lamp holder objects: - object_name: table level1: furniture @@ -26,41 +26,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_turn_off_the_desk_lamp -video_url: ./assets/videos/Cobot_Magic_turn_off_the_desk_lamp.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_off_the_desk_lamp.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-121821 dataset_size: 8.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 398 total_frames: 121821 @@ -69,263 +37,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:397 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'turn off the desk lamp on the blue coffee tablecloth by hand. - - turn off the desk lamp on the light coffee tablecloth by hand. - - turn off the desk lamp on the green coffee tablecloth by hand. - - turn off the desk lamp on the grey coffee tablecloth by hand. - - turn off the table lamp on the pink coffee tablecloth by hand. - - turn off the desk lamp on the white desktop by hand.' +dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to press the button switch on the lamp holder - use the right arm to press the button switch on the lamp holder @@ -338,117 +55,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -467,350 +125,3 @@ structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotat \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 276 - dataset_name: turn_off_the_desk_lamp - dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/turn_off_lamp-AH202503190008/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_off_the_desk_lamp - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: turn_off_the_desk_lamp - dataset_uuid: null - task_descriptions: - - turn off the desk lamp on the blue coffee tablecloth by hand. - - turn off the desk lamp on the light coffee tablecloth by hand. - - turn off the desk lamp on the green coffee tablecloth by hand. - - turn off the desk lamp on the grey coffee tablecloth by hand. - - turn off the table lamp on the pink coffee tablecloth by hand. - - turn off the desk lamp on the white desktop by hand. - scene_type: - - home - atomic_actions: - - pressbutton - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: desk_lamp - level1: daily_necessities - level2: desk_lamp - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 398 - total_frames: 121821 - total_tasks: 6 - total_videos: 1194 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:397 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml index e2eb7f12d3f003114b648956d16494ef99982f6f..ef3dcb6b791e7d2438fd9cfd14e5ecd01e449166 100644 --- a/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml +++ b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml @@ -1,12 +1,12 @@ +path: Cobot_Magic_turn_on_the_bulb dataset_name: turn_on_the_bulb -dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c -scene_type: -- home -atomic_actions: -- press +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- press +tasks: End objects: - object_name: table level1: furniture @@ -20,41 +20,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_turn_on_the_bulb -video_url: ./assets/videos/Cobot_Magic_turn_on_the_bulb.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_on_the_bulb.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-2216 dataset_size: 52.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 11 total_frames: 2216 @@ -63,253 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 50 -splits: - train: 0:10 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: press the switch on the desk to turn on the bulb. +dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Turn on the switch @@ -322,117 +49,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 50 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -451,339 +119,3 @@ structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 301 - dataset_name: turn_on_the_bulb - dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/turn_on_the_bulb/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_on_the_bulb - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: turn_on_the_bulb - dataset_uuid: null - task_descriptions: - - press the switch on the desk to turn on the bulb. - scene_type: - - home - atomic_actions: - - press - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bulb - level1: tool - level2: bulb - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 11 - total_frames: 2216 - total_tasks: 1 - total_videos: 33 - total_chunks: 1 - chunks_size: 1000 - fps: 50 - splits: - train: 0:10 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 50 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml index 1bbfd5f39be4f54f88e5960f3ab1fc17f0fc42da..3202b0edf28c7d16354bdc3eac423b9306cec113 100644 --- a/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml +++ b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml @@ -1,12 +1,12 @@ +path: Cobot_Magic_turn_on_the_desk_lamp dataset_name: turn_on_the_desk_lamp -dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 -scene_type: -- home -atomic_actions: -- pressbutton +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: null +scene_type: [] +atomic_actions: +- pressbutton +tasks: use the left arm to press the button switch on the lamp holder objects: - object_name: table level1: furniture @@ -26,41 +26,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_turn_on_the_desk_lamp -video_url: ./assets/videos/Cobot_Magic_turn_on_the_desk_lamp.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_on_the_desk_lamp.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-146182 dataset_size: 8.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 449 total_frames: 146182 @@ -69,263 +37,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:448 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'turn on the table lamp on the blue coffee tablecloth with your hand. - - turn on the table lamp on the light coffee tablecloth with your hand. - - turn on the table lamp on the green coffee tablecloth with your hand. - - turn on the desk lamp on the grey coffee tablecloth with your hand. - - turn on the table lamp on the pink coffee tablecloth with your hand. - - turn on the desk lamp on the white desktop with your hand.' +dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - use the left arm to press the button switch on the lamp holder - use the right arm to press the button switch on the lamp holder @@ -338,117 +55,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -467,350 +125,3 @@ structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 278 - dataset_name: turn_on_the_desk_lamp - dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/turn_on_lamp-AH202503190007/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_on_the_desk_lamp - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: turn_on_the_desk_lamp - dataset_uuid: null - task_descriptions: - - turn on the table lamp on the blue tablecloth with your hand. - - turn on the table lamp on the light coffee tablecloth with your hand. - - turn on the table lamp on the green tablecloth with your hand. - - turn on the desk lamp on the grey tablecloth with your hand. - - turn on the table lamp on the pink tablecloth with your hand. - - turn on the desk lamp on the white desktop with your hand. - scene_type: - - home - atomic_actions: - - pressbutton - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: desk_lamp - level1: daily_necessities - level2: desk_lamp - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 449 - total_frames: 146182 - total_tasks: 6 - total_videos: 1347 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:448 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_twist_bottle_cap.yaml b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml index 5892c7375df35449a68df312b08681eae03216d2..a48a1b06fe2a0479479e5ad384c3f77a99cce617 100644 --- a/dataset_info/Cobot_Magic_twist_bottle_cap.yaml +++ b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml @@ -1,15 +1,15 @@ +path: Cobot_Magic_twist_bottle_cap dataset_name: twist_bottle_cap -dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - twist -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the Yili Changqing with the left hand objects: - object_name: table level1: furniture @@ -53,41 +53,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_twist_bottle_cap -video_url: ./assets/videos/Cobot_Magic_twist_bottle_cap.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_twist_bottle_cap.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-749388 dataset_size: 8.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 863 total_frames: 749388 @@ -96,293 +64,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:862 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'tighten the cap of the cestbon bottle. - - tighten the cap of the green tea bottle. - - loosen the cap of the cestbon bottle. - - tighten the cap of the master kong oolong tea bottle. - - loosen the cap of the green tea bottle. - - tighten the cap of the meinianda bottle. - - loosen the bottle cap of master kang oolong tea. - - tighten the cap of the yili changqing bottle. - - loosen the cap of the meinianda bottle.' +dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the Yili Changqing with the left hand - Lift the Peach Oolong Tea with the left hand @@ -443,141 +130,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -596,405 +200,3 @@ structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 205 - dataset_name: twist_bottle_cap - dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/twist_bottle_cap/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_twist_bottle_cap - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: twist_bottle_cap - dataset_uuid: null - task_descriptions: - - tighten the cap on the water bottle. - - loosen the cap of the mineral water bottle. - - tighten the cap of the green tea bottle. - - loosen the cap of the green tea bottle. - - tighten the cap of the master kong oolong tea bottle. - - loosen the bottle cap of master kang oolong tea. - - tighten the cap of the meinianda bottle. - - loosen the cap of the meinianda bottle. - - tighten the cap of the yili changqing bottle. - - loosen the cap of the yili changqing bottle. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - twist - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: master_kong_oolong_tea - level1: drink - level2: master_kong_oolong_tea - level3: null - level4: null - level5: null - - object_name: green_tea - level1: drink - level2: green_tea - level3: null - level4: null - level5: null - - object_name: meinianda - level1: drink - level2: meinianda - level3: null - level4: null - level5: null - - object_name: yili_changqing - level1: drink - level2: yili_changqing - level3: null - level4: null - level5: null - - object_name: cestbon - level1: drink - level2: cestbon - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 863 - total_frames: 749388 - total_tasks: 9 - total_videos: 2589 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:862 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_vase_storage_flower.yaml b/dataset_info/Cobot_Magic_vase_storage_flower.yaml index 703d1908ce39ca223f0e98dca95580ffceddcec8..e4ee52482650bfaa3844cda68474e488b55a7dbf 100644 --- a/dataset_info/Cobot_Magic_vase_storage_flower.yaml +++ b/dataset_info/Cobot_Magic_vase_storage_flower.yaml @@ -1,14 +1,14 @@ +path: Cobot_Magic_vase_storage_flower dataset_name: vase_storage_flower -dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the pink flower in the vase with right gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_vase_storage_flower -video_url: ./assets/videos/Cobot_Magic_vase_storage_flower.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_vase_storage_flower.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-239272 dataset_size: 12.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 455 total_frames: 239272 @@ -77,263 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:454 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'insert the flowers into the vase on the table with the blue tablecloth. - - insert the flowers into the vase on the table with the green tablecloth. - - insert the flowers into the vase on the table with the grey tablecloth. - - insert the flowers into the vase on the table with the pink tablecloth. - - insert the flowers into the vase on the white table. - - insert the flowers into the vase on the table with the white tablecloth.' +dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pink flower in the vase with right gripper - Grasp the dumpling with right gripper @@ -365,117 +82,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_front_rgb - name: cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_front_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -494,358 +152,3 @@ structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 267 - dataset_name: vase_storage_flower - dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/flower_arrangement-AH202503190005/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_vase_storage_flower - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: vase_storage_flower - dataset_uuid: null - task_descriptions: - - insert the flowers into the vase on the table with the blue tablecloth. - - insert the flowers into the vase on the table with the green tablecloth. - - insert the flowers into the vase on the table with the grey tablecloth. - - insert the flowers into the vase on the table with the pink tablecloth. - - insert the flowers into the vase on the white table. - - insert the flowers into the vase on the table with the white tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: flowers - level1: botany - level2: flowers - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - - object_name: vase - level1: container - level2: vase - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 455 - total_frames: 239272 - total_tasks: 6 - total_videos: 1365 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:454 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_front_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Cobot_Magic_water_bottle_storage.yaml b/dataset_info/Cobot_Magic_water_bottle_storage.yaml index 4a8de4e7fa81520f899718b3ae01beef2941f053..b1ea445b9c86e6337da7d85ae3c7b0bb02b14dea 100644 --- a/dataset_info/Cobot_Magic_water_bottle_storage.yaml +++ b/dataset_info/Cobot_Magic_water_bottle_storage.yaml @@ -1,16 +1,16 @@ +path: Cobot_Magic_water_bottle_storage dataset_name: water_bottle_storage -dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - open - close -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -30,41 +30,9 @@ objects: level3: null level4: null level5: null -path: Cobot_Magic_water_bottle_storage -video_url: ./assets/videos/Cobot_Magic_water_bottle_storage.mp4 -thumbnail_url: ./assets/thumbnails/Cobot_Magic_water_bottle_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-56495 dataset_size: 1.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Cobot_Magic -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 56495 @@ -73,277 +41,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the water bottle into the drawer. +dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the water bottle inside the drawer. @@ -362,141 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -515,373 +135,3 @@ structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 234 - dataset_name: water_bottle_storage - dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 - device_model: Agilex_Split_Aloha - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/水瓶收纳/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_water_bottle_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 100 - yaml: - dataset_name: water_bottle_storage - dataset_uuid: null - task_descriptions: - - place the water bottle into the drawer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - - close - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: drawer - level1: furniture - level2: drawer - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: container - level2: water_bottle - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 56495 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_basket_storage_apple.yaml b/dataset_info/G1edu-u3_basket_storage_apple.yaml index 42ad810cc1a0c37d64531716a628a37e79230b91..c25d7049978948961155e7c1d0643d3ebf489967 100644 --- a/dataset_info/G1edu-u3_basket_storage_apple.yaml +++ b/dataset_info/G1edu-u3_basket_storage_apple.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_basket_storage_apple dataset_name: basket_storage_apple -dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the apple with the left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_basket_storage_apple -video_url: ./assets/videos/G1edu-u3_basket_storage_apple.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_basket_storage_apple.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-45574 dataset_size: 1.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 88 total_frames: 45574 @@ -72,246 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:87 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the apple from the table and place it into the basket. +dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the apple with the left gripper - Place the apple into the basket with the left gripper @@ -328,145 +61,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_left_wrist - name: color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_right_wrist - name: color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -485,364 +131,3 @@ structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 5 - dataset_name: basket_storage_apple - dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/basket_storage_apple/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_basket_storage_apple - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: basket_storage_apple - dataset_uuid: null - task_descriptions: - - pick up the apple from the table and place it into the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: five_finger_hand - meta: - robot_type: unitree_g1 - codebase_version: v2.1 - statistics: - total_episodes: 88 - total_frames: 45574 - total_tasks: 1 - total_videos: 264 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:87 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_basket_storage_apple_b.yaml b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml index a16943ba82aaa2c98e6b947f825af719f64ac554..117c369fc8e059a442e237aa9c55f6dfef8548fd 100644 --- a/dataset_info/G1edu-u3_basket_storage_apple_b.yaml +++ b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_basket_storage_apple_b dataset_name: basket_storage_apple_b -dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_basket_storage_apple_b -video_url: ./assets/videos/G1edu-u3_basket_storage_apple_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_basket_storage_apple_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-118352 dataset_size: 2.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 241 total_frames: 118352 @@ -70,246 +38,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:240 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the grapes and put them on the plate. +dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the grapes in the plate with left hand @@ -323,145 +57,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -480,329 +127,3 @@ structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 604 - dataset_name: basket_storage_apple_b - dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/dataset_name - basket_storage_apple_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_basket_storage_apple_b - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 241 - total_frames: 118352 - total_tasks: 1 - total_videos: 723 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:240 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml index f603a742bff466d1ff9e4b78445824f39e6c0c91..7012be614e6aea34fe0904fce59f6d12bf18502e 100644 --- a/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml +++ b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_bowl_storage_grape_singletry dataset_name: bowl_storage_grape_singletry -dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the grapes with left hand objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_bowl_storage_grape_singletry -video_url: ./assets/videos/G1edu-u3_bowl_storage_grape_singletry.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_bowl_storage_grape_singletry.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-119619 dataset_size: 2.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 242 total_frames: 119619 @@ -72,246 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:241 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the red cup on the table. +dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the grapes with left hand - Grasp the bread with the left gripper @@ -328,145 +61,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -485,330 +131,3 @@ structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 11 - dataset_name: bowl_storage_grape_singletry - dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/bowl_storage_grape_singletry/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_bowl_storage_grape_singletry - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 242 - total_frames: 119619 - total_tasks: 1 - total_videos: 726 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:241 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_food_storage.yaml b/dataset_info/G1edu-u3_food_storage.yaml index 696dc7709f4ea7283e4b863587db73a0a4acfa89..8ed3b9cfe38310ad07c23a8d11e3afc4e595466e 100644 --- a/dataset_info/G1edu-u3_food_storage.yaml +++ b/dataset_info/G1edu-u3_food_storage.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_food_storage dataset_name: food_storage -dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Grasp the bowl with the left gripper objects: - object_name: table level1: furniture @@ -47,41 +46,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_food_storage -video_url: ./assets/videos/G1edu-u3_food_storage.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_food_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-316377 dataset_size: 13.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 190 total_frames: 316377 @@ -90,247 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:189 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the donut from the bowl and place it in the plate, pick up the cake - from the bowl and place it in the basket. +dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the bowl with the left gripper - Pour the cake into the basket with the left gripper @@ -349,145 +81,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_left_wrist - name: color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_right_wrist - name: color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -505,401 +149,3 @@ structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 12 - dataset_name: food_storage - dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/food_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_food_storage - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - - object_name: donut - level1: food - level2: donut - level3: null - level4: null - level5: null - - object_name: cake - level1: bread - level2: cake - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: food_storage - dataset_uuid: null - task_descriptions: - - pick up the donut from the bowl and place it in the plate, pick up the cake - from the bowl and place it in the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: donut - level1: food - level2: donut - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: five_finger_hand - meta: - robot_type: unitree_g1 - codebase_version: v2.1 - statistics: - total_episodes: 190 - total_frames: 316377 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:189 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml index 2a6a2eb1318865597cfe23108897c80de51d114a..24d1e6d25e04c04153d7ffb4e4f98b495521c67b 100644 --- a/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml +++ b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_little_tray_storage_apple_b dataset_name: little_tray_storage_apple_b -dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the apple on the orange plate with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_little_tray_storage_apple_b -video_url: ./assets/videos/G1edu-u3_little_tray_storage_apple_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_little_tray_storage_apple_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-3928 dataset_size: 51.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 15 total_frames: 3928 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 15 fps: 30 -splits: - train: 0:14 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the apple on the orange plate with right gripper - End @@ -313,117 +57,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -441,268 +90,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 603 - dataset_name: little_tray_storage_apple_b - dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/little_tray_storage_apple_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_little_tray_storage_apple_b - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 15 - total_frames: 3928 - total_tasks: 1 - total_videos: 15 - total_chunks: 1 - chunks_size: 15 - fps: 30 - splits: - train: 0:14 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml index 102a55b4384e2c97be05f56aac33d1eeed75fdb2..07b2824336e0c464870b8521f93da11da1b55417 100644 --- a/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml +++ b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_little_tray_storage_lemon_b dataset_name: little_tray_storage_lemon_b -dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the lemon on the orange plate with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_little_tray_storage_lemon_b -video_url: ./assets/videos/G1edu-u3_little_tray_storage_lemon_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_little_tray_storage_lemon_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-3028 dataset_size: 39.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 14 total_frames: 3028 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 14 fps: 30 -splits: - train: 0:13 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the lemon on the orange plate with right gripper - End @@ -313,117 +57,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -441,268 +90,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 607 - dataset_name: little_tray_storage_lemon_b - dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/little_tray_storage_lemon_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_little_tray_storage_lemon_b - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 14 - total_frames: 3028 - total_tasks: 1 - total_videos: 14 - total_chunks: 1 - chunks_size: 14 - fps: 30 - splits: - train: 0:13 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_apple_a.yaml b/dataset_info/G1edu-u3_pick_apple_a.yaml index 5d9b9e668e0f602e1add3153ef778fd66158b8de..4c6371291aa216c1d484b21adfb931d3288b8679 100644 --- a/dataset_info/G1edu-u3_pick_apple_a.yaml +++ b/dataset_info/G1edu-u3_pick_apple_a.yaml @@ -1,14 +1,14 @@ +path: G1edu-u3_pick_apple_a dataset_name: pick_apple_a -dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_apple_a -video_url: ./assets/videos/G1edu-u3_pick_apple_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_apple_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-15439 dataset_size: 208.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 40 total_frames: 15439 @@ -71,236 +39,12 @@ statistics: total_chunks: 1 chunks_size: 40 fps: 30 -splits: - train: 0:39 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the apple and lift it to the center of the view with right gripper @@ -314,117 +58,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -442,269 +91,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 615 - dataset_name: pick_apple_a - dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_apple_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_apple_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: board - level1: material - level2: board - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 40 - total_frames: 15439 - total_tasks: 1 - total_videos: 40 - total_chunks: 1 - chunks_size: 40 - fps: 30 - splits: - train: 0:39 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_apple_b.yaml b/dataset_info/G1edu-u3_pick_apple_b.yaml index 67221447fd1db4e7536bd2ccbc691b9942e06ca4..b3ea994977c9ba5720ad071af616d17f00740879 100644 --- a/dataset_info/G1edu-u3_pick_apple_b.yaml +++ b/dataset_info/G1edu-u3_pick_apple_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_apple_b dataset_name: pick_apple_b -dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_apple_b -video_url: ./assets/videos/G1edu-u3_pick_apple_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_apple_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-8289 dataset_size: 102.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 26 total_frames: 8289 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 26 fps: 30 -splits: - train: 0:25 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the apple and lift it to the center of the view with right gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 596 - dataset_name: pick_apple_b - dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_apple_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_apple_b - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 26 - total_frames: 8289 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 - splits: - train: 0:25 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml index 3a9f7f835f2f105d12ae28d2f35a20b14bb901fc..70011183e70ed2355c9893e5ac61c73b17954006 100644 --- a/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml +++ b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_crumpled_paper_aa dataset_name: pick_crumpled_paper_aa -dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_crumpled_paper_aa -video_url: ./assets/videos/G1edu-u3_pick_crumpled_paper_aa.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_crumpled_paper_aa.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-4485 dataset_size: 58.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 13 total_frames: 4485 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 13 fps: 30 -splits: - train: 0:12 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - "Grasp the paper ball and lift it to the center of the view with right gripper \uFEFF\ @@ -301,117 +53,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -429,262 +86,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 605 - dataset_name: pick_crumpled_paper_aa - dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_crumpled_paper_aa/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_crumpled_paper_aa - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper - level1: rubbish - level2: paper - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 13 - total_frames: 4485 - total_tasks: 1 - total_videos: 13 - total_chunks: 1 - chunks_size: 13 - fps: 30 - splits: - train: 0:12 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_cup_a.yaml b/dataset_info/G1edu-u3_pick_cup_a.yaml index 1afff5f8d47372301464d3496b9d9cfb2a6438b0..bb98577c7bea778a73785e7048b9df6ba59c7b9b 100644 --- a/dataset_info/G1edu-u3_pick_cup_a.yaml +++ b/dataset_info/G1edu-u3_pick_cup_a.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_cup_a dataset_name: pick_cup_a -dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_cup_a -video_url: ./assets/videos/G1edu-u3_pick_cup_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_cup_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-8046 dataset_size: 88.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 24 total_frames: 8046 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 24 fps: 30 -splits: - train: 0:23 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the paper cup and lift it to the center of the view with right gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 598 - dataset_name: pick_cup_a - dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_cup_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_cup_a - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 24 - total_frames: 8046 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 24 - fps: 30 - splits: - train: 0:23 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml index 75872bb43e511f7caeec25ee1dec118e6ebc48c3..87c520f266b7dbc7b66bd93a4a25c02f1086354c 100644 --- a/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml +++ b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_empty_bottle_ab dataset_name: pick_empty_bottle_ab -dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_empty_bottle_ab -video_url: ./assets/videos/G1edu-u3_pick_empty_bottle_ab.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_empty_bottle_ab.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-3290 dataset_size: 45.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 11 total_frames: 3290 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 11 fps: 30 -splits: - train: 0:10 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - "Grasp the cola bottle and lift it to the center of the view with right gripper\ @@ -302,117 +54,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -430,262 +87,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 606 - dataset_name: pick_empty_bottle_ab - dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_empty_bottle_ab/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_empty_bottle_ab - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: empty_bottle - level1: mineral_water - level2: empty_bottle - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 11 - total_frames: 3290 - total_tasks: 1 - total_videos: 11 - total_chunks: 1 - chunks_size: 11 - fps: 30 - splits: - train: 0:10 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml index 3171deb3299f31876437a6c6848a614f34aefce1..5bf9b65dbe306c3f86ba221df97e6785319dc6f3 100644 --- a/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml +++ b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_leftover_food_ac dataset_name: pick_leftover_food_ac -dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_leftover_food_ac -video_url: ./assets/videos/G1edu-u3_pick_leftover_food_ac.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_leftover_food_ac.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-4666 dataset_size: 63.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 14 total_frames: 4666 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 14 fps: 30 -splits: - train: 0:13 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Abnormal @@ -302,117 +54,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -430,262 +87,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 608 - dataset_name: pick_leftover_food_ac - dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_leftover_food_ac/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_leftover_food_ac - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: leftover_food - level1: trash - level2: leftover_food - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 14 - total_frames: 4666 - total_tasks: 1 - total_videos: 14 - total_chunks: 1 - chunks_size: 14 - fps: 30 - splits: - train: 0:13 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml index 3a1f72248ce717fbb2e6e6ef3ccb86b818d916df..e19e023cd82a1a51107ae688479f51281122d030 100644 --- a/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml +++ b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_metal_bowl_aa dataset_name: pick_metal_bowl_aa -dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the metal bowl and lift it to the center of the view with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_metal_bowl_aa -video_url: ./assets/videos/G1edu-u3_pick_metal_bowl_aa.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_metal_bowl_aa.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-15548 dataset_size: 221.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 35 total_frames: 15548 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 35 fps: 30 -splits: - train: 0:34 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the metal bowl and lift it to the center of the view with left gripper - End @@ -300,117 +52,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -428,262 +85,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 610 - dataset_name: pick_metal_bowl_aa - dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_metal_bowl_aa/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_metal_bowl_aa - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: metal_bowl - level1: bowl - level2: metal_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 35 - total_frames: 15548 - total_tasks: 1 - total_videos: 35 - total_chunks: 1 - chunks_size: 35 - fps: 30 - splits: - train: 0:34 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml index e8edc002ed5f2a7bbfa40a03e8b64f3c2d752dba..3a2adbfea8e1ca71713137974ecfce1c796f5ab6 100644 --- a/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml +++ b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_metal_bowl_ab dataset_name: pick_metal_bowl_ab -dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the metal bowl and lift it to the center of the view with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_metal_bowl_ab -video_url: ./assets/videos/G1edu-u3_pick_metal_bowl_ab.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_metal_bowl_ab.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-11322 dataset_size: 158.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 36 total_frames: 11322 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 37 fps: 30 -splits: - train: 0:35 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the metal bowl and lift it to the center of the view with left gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 618 - dataset_name: pick_metal_bowl_ab - dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_metal_bowl_ab/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_metal_bowl_ab - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: metal_bowl - level1: bowl - level2: metal_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 36 - total_frames: 11322 - total_tasks: 1 - total_videos: 36 - total_chunks: 1 - chunks_size: 37 - fps: 30 - splits: - train: 0:35 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml index 538f6e04a3d92dee7a191fb15d66723119409249..c6d0ccdd8480afe22c484f071b666ea471ddad4a 100644 --- a/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_plastic_bowl_ac dataset_name: pick_plastic_bowl_ac -dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_plastic_bowl_ac -video_url: ./assets/videos/G1edu-u3_pick_plastic_bowl_ac.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ac.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-12573 dataset_size: 175.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 32 total_frames: 12573 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 32 fps: 30 -splits: - train: 0:31 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the plastic bowl and lift it to the center of the view with left gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 619 - dataset_name: pick_plastic_bowl_ac - dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_plastic_bowl_ac/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_plastic_bowl_ac - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bowl - level1: container - level2: plastic_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 32 - total_frames: 12573 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 32 - fps: 30 - splits: - train: 0:31 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml index 4b469b2f0685fa41b82db37a28d2ff1a1574e2fd..8882eb02a6bc59a8aaed05f945de295b5265bb0f 100644 --- a/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_plastic_bowl_ad dataset_name: pick_plastic_bowl_ad -dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_plastic_bowl_ad -video_url: ./assets/videos/G1edu-u3_pick_plastic_bowl_ad.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ad.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-10038 dataset_size: 144.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 32 total_frames: 10038 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 33 fps: 30 -splits: - train: 0:31 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the plastic bowl and lift it to the center of the view with left gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 612 - dataset_name: pick_plastic_bowl_ad - dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_plastic_bowl_ad/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_plastic_bowl_ad - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bowl - level1: container - level2: plastic_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 32 - total_frames: 10038 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 33 - fps: 30 - splits: - train: 0:31 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml index 77b78f47fa1c6bfc8b36135ae062559857369a27..2e73dcd714016fb39662379a55b06a393ad8d6d3 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_bottled_water_a dataset_name: pick_up_the_bottled_water_a -dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the water bottle and lift it to the center of the view with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_bottled_water_a -video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-12057 dataset_size: 153.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 12057 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 29 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper @@ -314,117 +58,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -442,268 +91,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 620 - dataset_name: pick_up_the_bottled_water_a - dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_bottled_water_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_a - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: water - level1: beverages - level2: water - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 12057 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml index 148c528ebc152755a290d8e9acbe26bcaa8ea501..6d727cae63155975767b59d084bf179bdc08a7e9 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_bottled_water_as dataset_name: pick_up_the_bottled_water_as -dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the water bottle and lift it to the center of the view with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_bottled_water_as -video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_as.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_as.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-9753 dataset_size: 116.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 24 total_frames: 9753 @@ -70,232 +38,12 @@ statistics: total_chunks: 1 chunks_size: 24 fps: 30 -splits: - train: 0:23 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper @@ -310,117 +58,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -438,268 +91,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 589 - dataset_name: pick_up_the_bottled_water_as - dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_bottled_water_as/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_as - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: water - level1: beverages - level2: water - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 24 - total_frames: 9753 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 24 - fps: 30 - splits: - train: 0:23 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml index 4c3fc251d88f3c09094c9ec70cee7de3f82c5b1e..57a3a581a1aa0dad2c5347cfa56074941cc1874b 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_bottled_water_b dataset_name: pick_up_the_bottled_water_b -dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the water bottle and lift it to the center of the view with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_bottled_water_b -video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-10067 dataset_size: 125.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 30 total_frames: 10067 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 31 fps: 30 -splits: - train: 0:29 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper @@ -314,117 +58,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -442,268 +91,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 621 - dataset_name: pick_up_the_bottled_water_b - dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_bottled_water_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_b - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: water - level1: beverages - level2: water - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 30 - total_frames: 10067 - total_tasks: 1 - total_videos: 30 - total_chunks: 1 - chunks_size: 31 - fps: 30 - splits: - train: 0:29 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml index 625f101746ace8bb703e9f43030440c7562e886b..a3e8eff7a7736fd38351f9e487dad59827be5592 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_pick_up_the_bread_az dataset_name: pick_up_the_bread_az -dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -65,41 +64,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_bread_az -video_url: ./assets/videos/G1edu-u3_pick_up_the_bread_az.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bread_az.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-14542 dataset_size: 169.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 26 total_frames: 14542 @@ -108,232 +75,12 @@ statistics: total_chunks: 1 chunks_size: 27 fps: 30 -splits: - train: 0:25 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the long bread and lift it to the center of the view with left gripper @@ -348,117 +95,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -476,306 +128,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 586 - dataset_name: pick_up_the_bread_az - dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_bread_az/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bread_az - scene_types: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: grape - level1: fruits - level2: grape - level3: null - level4: null - level5: null - - object_name: orange - level1: fruits - level2: orange - level3: null - level4: null - level5: null - - object_name: pear - level1: fruits - level2: pear - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 26 - total_frames: 14542 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 27 - fps: 30 - splits: - train: 0:25 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml index dad92bad2c44130327ddc6358bd544bdf7c08386..9ad894264fb5fffa238c98d7ed4a421843fcec7b 100644 --- a/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_lemon_a dataset_name: pick_up_the_lemon_a -dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_lemon_a -video_url: ./assets/videos/G1edu-u3_pick_up_the_lemon_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_lemon_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-8915 dataset_size: 107.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 23 total_frames: 8915 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 23 fps: 30 -splits: - train: 0:22 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the lemon and lift it to the center of the view with left gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 616 - dataset_name: pick_up_the_lemon_a - dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_lemon_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_lemon_a - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 23 - total_frames: 8915 - total_tasks: 1 - total_videos: 23 - total_chunks: 1 - chunks_size: 23 - fps: 30 - splits: - train: 0:22 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml index 5836dbf6a87f6e6c8df7619f579834feeb3f03bd..230d0c95b4585973a2eb8fd2d771d502e3d081ab 100644 --- a/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_pick_up_the_lemon_at dataset_name: pick_up_the_lemon_at -dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_lemon_at -video_url: ./assets/videos/G1edu-u3_pick_up_the_lemon_at.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_lemon_at.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-8538 dataset_size: 84.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 26 total_frames: 8538 @@ -72,232 +39,12 @@ statistics: total_chunks: 1 chunks_size: 26 fps: 30 -splits: - train: 0:25 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the lemon and lift it to the center of the view with left gripper @@ -312,117 +59,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -440,270 +92,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 585 - dataset_name: pick_up_the_lemon_at - dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_lemon_at/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_lemon_at - scene_types: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 26 - total_frames: 8538 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 - splits: - train: 0:25 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml index ec09301027cbba9b0af199732db728a6bc378745..15bd0a5c43001696fb6d16104e7bba17cda2c58f 100644 --- a/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_tissue_box_ao dataset_name: pick_up_the_tissue_box_ao -dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Grasp the tissue box and lift it to the center of the view with both gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_tissue_box_ao -video_url: ./assets/videos/G1edu-u3_pick_up_the_tissue_box_ao.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_tissue_box_ao.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-21166 dataset_size: 273.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 21166 @@ -70,232 +38,12 @@ statistics: total_chunks: 1 chunks_size: 29 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the tissue box and lift it to the center of the view with both gripper - End @@ -308,117 +56,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -436,268 +89,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 592 - dataset_name: pick_up_the_tissue_box_ao - dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_tissue_box_ao/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_tissue_box_ao - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: tissue - level1: daily_necessities - level2: tissue - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 21166 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml index e894113f38264fdaed878eb75632946c6e34e64d..d166941d8efb19331b9f4fccae7c17240f27c948 100644 --- a/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_pick_up_the_toy_ai dataset_name: pick_up_the_toy_ai -dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pick_up_the_toy_ai -video_url: ./assets/videos/G1edu-u3_pick_up_the_toy_ai.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_toy_ai.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-3242 dataset_size: 44.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 10 total_frames: 3242 @@ -64,232 +32,12 @@ statistics: total_chunks: 1 chunks_size: 10 fps: 30 -splits: - train: 0:9 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the toy bear and lift it to the center of the view with right gripper @@ -303,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -431,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 588 - dataset_name: pick_up_the_toy_ai - dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_toy_ai/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_toy_ai - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: toy - level1: toy - level2: toy - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 10 - total_frames: 3242 - total_tasks: 1 - total_videos: 10 - total_chunks: 1 - chunks_size: 10 - fps: 30 - splits: - train: 0:9 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_apple_c.yaml b/dataset_info/G1edu-u3_place_apple_c.yaml index 42e23fed9474d0246d74fd4ddbb9188bb98969da..ef3c55366994328e0cffb0a5d2f1f67decf231ed 100644 --- a/dataset_info/G1edu-u3_place_apple_c.yaml +++ b/dataset_info/G1edu-u3_place_apple_c.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_apple_c dataset_name: place_apple_c -dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_apple_c -video_url: ./assets/videos/G1edu-u3_place_apple_c.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_apple_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-6567 dataset_size: 81.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 6567 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 30 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the apple on the table with right gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 600 - dataset_name: place_apple_c - dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/place_apple_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_apple_c - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 6567 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 30 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_bottle_c.yaml b/dataset_info/G1edu-u3_place_bottle_c.yaml index bb34701f76a4c6c247b59b578757baac6877e59d..515e97f9523a36b3755ddd06b22f597bfd91bee2 100644 --- a/dataset_info/G1edu-u3_place_bottle_c.yaml +++ b/dataset_info/G1edu-u3_place_bottle_c.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_bottle_c dataset_name: place_bottle_c -dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_bottle_c -video_url: ./assets/videos/G1edu-u3_place_bottle_c.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_bottle_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-7277 dataset_size: 92.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 7277 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 30 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the water bottle on the table with left gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 601 - dataset_name: place_bottle_c - dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/place_bottle_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_bottle_c - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 7277 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 30 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml index cd45cf263b39e2f6e21cd611499a1ea8799da698..1b33112cd5a9d4b4810f643dec86731ff43d2483 100644 --- a/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml +++ b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_metal_bowl_ae dataset_name: place_metal_bowl_ae -dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the metal bowl on the table with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_metal_bowl_ae -video_url: ./assets/videos/G1edu-u3_place_metal_bowl_ae.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_metal_bowl_ae.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-7884 dataset_size: 120.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 38 total_frames: 7884 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 39 fps: 30 -splits: - train: 0:37 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the metal bowl on the table with left gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 613 - dataset_name: place_metal_bowl_ae - dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_metal_bowl_ae/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_metal_bowl_ae - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: metal_bowl - level1: bowl - level2: metal_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 38 - total_frames: 7884 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 - splits: - train: 0:37 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_metal_bowl_af.yaml b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml index b154c5c171956134d6b95a2c98fdc651fe9e4a45..82180dce0e4ac26279ff40aa68582f0846c205ca 100644 --- a/dataset_info/G1edu-u3_place_metal_bowl_af.yaml +++ b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_metal_bowl_af dataset_name: place_metal_bowl_af -dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the metal bowl on the table with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_metal_bowl_af -video_url: ./assets/videos/G1edu-u3_place_metal_bowl_af.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_metal_bowl_af.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-6265 dataset_size: 95.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 38 total_frames: 6265 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 39 fps: 30 -splits: - train: 0:37 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the metal bowl on the table with left gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 622 - dataset_name: place_metal_bowl_af - dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_metal_bowl_af/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_metal_bowl_af - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: metal_bowl - level1: bowl - level2: metal_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 38 - total_frames: 6265 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 - splits: - train: 0:37 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml index 8b5d7e932a3a8d665d4bbf684c9300a1db428390..e592e9c8d864cb7594471a6647040da9520db37f 100644 --- a/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_plastic_bowl_ag dataset_name: place_plastic_bowl_ag -dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the plastic bowl on the table with right gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_plastic_bowl_ag -video_url: ./assets/videos/G1edu-u3_place_plastic_bowl_ag.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_plastic_bowl_ag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-7219 dataset_size: 116.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 38 total_frames: 7219 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 39 fps: 30 -splits: - train: 0:37 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the plastic bowl on the table with right gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 623 - dataset_name: place_plastic_bowl_ag - dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_plastic_bowl_ag/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_plastic_bowl_ag - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bowl - level1: container - level2: plastic_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 38 - total_frames: 7219 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 - splits: - train: 0:37 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml index 9cfd4f3f03ebe6bcb7a7f6405c89e32ff38dea12..9d574931e80930189adc214de14b1bf8f1394959 100644 --- a/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_place_plastic_bowl_ah dataset_name: place_plastic_bowl_ah -dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the plastic bowl on the table with right gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_place_plastic_bowl_ah -video_url: ./assets/videos/G1edu-u3_place_plastic_bowl_ah.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_place_plastic_bowl_ah.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-5638 dataset_size: 83.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 33 total_frames: 5638 @@ -64,228 +32,12 @@ statistics: total_chunks: 1 chunks_size: 34 fps: 30 -splits: - train: 0:32 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the crumpled paper - - Pick up the empty bottle - - Pick up the leftover food - - Pick up the metal bowl - - Pick up the metal bowl - - Pick up the plastic bowl - - Pick up the plastic bowl - - Place the metal bowl - - Place the metal bowl - - Place the plastic bowl - - Place the plastic bowl' +dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the plastic bowl on the table with right gripper - End @@ -299,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -427,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 614 - dataset_name: place_plastic_bowl_ah - dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_plastic_bowl_ah/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_plastic_bowl_ah - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plastic_bowl - level1: container - level2: plastic_bowl - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 33 - total_frames: 5638 - total_tasks: 1 - total_videos: 33 - total_chunks: 1 - chunks_size: 34 - fps: 30 - splits: - train: 0:32 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_plate_storage_doll.yaml b/dataset_info/G1edu-u3_plate_storage_doll.yaml index a183134a86492d70a972114cd06184ccef9ee244..cab9041b3540fae82d9f2d0315a14458022e9eff 100644 --- a/dataset_info/G1edu-u3_plate_storage_doll.yaml +++ b/dataset_info/G1edu-u3_plate_storage_doll.yaml @@ -1,14 +1,14 @@ +path: G1edu-u3_plate_storage_doll dataset_name: plate_storage_doll -dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_plate_storage_doll -video_url: ./assets/videos/G1edu-u3_plate_storage_doll.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_plate_storage_doll.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-133026 dataset_size: 3.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 388 total_frames: 133026 @@ -71,248 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:387 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the doll on one side of the plate and place it into the plate. - - Pick up the doll on the other side of the plate and place it into the plate.' +dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Place the pink doll into the plate with the left gripper @@ -329,145 +61,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_left_wrist - name: color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_right_wrist - name: color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -486,365 +131,3 @@ structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 3 - dataset_name: plate_storage_doll - dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/plate_storage_doll/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_plate_storage_doll - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: doll - level1: toys - level2: doll - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: plate_storage_doll - dataset_uuid: null - task_descriptions: - - the left hand pick up the doll on the left side of the plate and place it into - the plate. - - the right hand pick up the doll on the right side of the plate and place it - into the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: doll - level1: toy - level2: doll - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: five_finger_hand - meta: - robot_type: unitree_g1 - codebase_version: v2.1 - statistics: - total_episodes: 388 - total_frames: 133026 - total_tasks: 2 - total_videos: 1164 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:387 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml index 39713313b7102e2ffd76d62808d0e902b909aeba..3966a7872d6b0fe9d16e5302d9e2d1933c1f4793 100644 --- a/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml +++ b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml @@ -1,14 +1,14 @@ +path: G1edu-u3_plate_storage_rabbit_doll dataset_name: plate_storage_rabbit_doll -dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Place the rabbit doll into the plate with the left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_plate_storage_rabbit_doll -video_url: ./assets/videos/G1edu-u3_plate_storage_rabbit_doll.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_plate_storage_rabbit_doll.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-76754 dataset_size: 378.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 227 total_frames: 76754 @@ -71,208 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:226 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the rabbit doll from the table and place it on the plate. +dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the rabbit doll into the plate with the left gripper - Grasp the rabbit doll with the left gripper @@ -288,118 +60,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -417,302 +93,28 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 10 - dataset_name: plate_storage_rabbit_doll - dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/plate_storage_rabbit_doll/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_plate_storage_rabbit_doll - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: rabbit_doll - level1: toy - level2: rabbit_doll - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: plate_storage_rabbit_doll - dataset_uuid: null - task_descriptions: - - pick up the rabbit doll from the table and place it on the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rabbit_doll - level1: toy - level2: rabbit_doll - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: five_finger_hand - meta: - robot_type: unitree_g1 - codebase_version: v2.1 - statistics: - total_episodes: 227 - total_frames: 76754 - total_tasks: 1 - total_videos: 227 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:226 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml index 0dabd9552c60a7c440e7660beda58ec9f14bec60..b152edb869be03784709b12f20837b38172b702f 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_pullBowl_storage_bread_a dataset_name: pullBowl_storage_bread_a -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pullBowl_storage_bread_a -video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-126861 dataset_size: 2.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 178 total_frames: 126861 @@ -72,246 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:177 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the bowl into the center of the table and put the bread into the bowl. +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -329,145 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -486,366 +132,3 @@ structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 569 - dataset_name: pullBowl_storage_bread_a - dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 - device_model: Unitree_G1edu-u3 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread2/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_a - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: plate_rack - level1: furniture - level2: plate_rack - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: pullBowl_storage_bread_a - dataset_uuid: null - task_descriptions: - - pick up the plate from the table and place it on the plate rack. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: plate_rack - level1: furniture - level2: plate_rack - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: - - five_finger_hand - - three_finger_hand - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 178 - total_frames: 126861 - total_tasks: 1 - total_videos: 534 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:177 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml index 773e5b623e0d7bb64e32f450bd3d66cd679610c7..d80338ee95c70710577184ea6411d5582c528b8c 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml @@ -1,12 +1,12 @@ +path: G1edu-u3_pullBowl_storage_bread_b dataset_name: pullBowl__storage2bread_unordered -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 -scene_type: -- home -atomic_actions: -- walk +robot_type: '' end_effector_type: - three_finger_hand -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: +- walk +tasks: Move the pink bowl to the center of table with right hand objects: - object_name: chair level1: furniture @@ -20,41 +20,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pullBowl_storage_bread_b -video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-162960 dataset_size: 3.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 186 total_frames: 162960 @@ -63,246 +31,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:185 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the red cup on the table. +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move the pink bowl to the center of table with right hand - Static @@ -322,145 +56,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -479,359 +126,3 @@ structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 9 - dataset_name: pullBowl__storage2bread_unordered - dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_b - scene_types: - - home - atomic_actions: - - walk - objects: - - object_name: chair - level1: furniture - level2: chair - level3: null - level4: null - level5: null - - object_name: bear_doll - level1: toy - level2: bear_doll - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: pullBowl_storage_bread_unordered_a - dataset_uuid: null - task_descriptions: - - the left hand pick up the towel on the left side of the plate and placed it - in the plate. - - the right hand pick up the towel on the right side of the plate and placed it - in the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: - - five_finger_hand - - three_finger_hand - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 186 - total_frames: 162960 - total_tasks: 1 - total_videos: 558 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:185 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml index 59cbf7fcadf4d760376be32e5b717debcaa558a1..bf760f5a6769ea4d0071466d4f54c15d4e1b11c5 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_pullBowl_storage_bread_unordered_C dataset_name: pullBowl_storage_bread_unordered_C -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Place the long bread in pink bowl with left hand objects: - object_name: table level1: furniture @@ -47,41 +46,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pullBowl_storage_bread_unordered_C -video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_C.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_C.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-110085 dataset_size: 2.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 190 total_frames: 110085 @@ -90,246 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:189 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the bowl to the center of the table and put the bread into the bowl. +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the long bread in pink bowl with left hand - End @@ -346,145 +79,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -503,403 +149,3 @@ structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 572 - dataset_name: pullBowl_storage_bread_unordered_C - dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 - device_model: Unitree_G1edu-u3 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered3/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_C - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - - object_name: donut - level1: food - level2: donut - level3: null - level4: null - level5: null - - object_name: cake - level1: bread - level2: cake - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: pullBowl_storage_bread_unordered_C - dataset_uuid: null - task_descriptions: - - pick up the donut from the bowl and place it in the plate pick up the cake from - the bowl and place it in the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: donut - level1: food - level2: donut - level3: null - level4: null - level5: null - - object_name: cake - level1: food - level2: cake - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: - - five_finger_hand - - three_finger_hand - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 190 - total_frames: 110085 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:189 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml index 4952a2b9c4a4299439a4afbd017204c79eafe004..48c0b028a20a979c246a5b306c2fb0433ffdeadb 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml @@ -1,14 +1,14 @@ +path: G1edu-u3_pullBowl_storage_bread_unordered_a dataset_name: pullBowl_storage_bread_unordered_a -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pullBowl_storage_bread_unordered_a -video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-158699 dataset_size: 3.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 188 total_frames: 158699 @@ -71,246 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:187 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the bowl into the center of the table and put the bread into the bowl. +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -328,145 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -485,367 +132,3 @@ structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 570 - dataset_name: pullBowl_storage_bread_unordered_a - dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 - device_model: Unitree_G1edu-u3 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: towel - level1: daily_necessities - level2: towel - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: pullBowl_storage_bread_unordered_a - dataset_uuid: null - task_descriptions: - - the left hand pick up the towel on the left side of the plate and placed it - in the plate. - - the right hand pick up the towel on the right side of the plate and placed it - in the plate. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: - - five_finger_hand - - three_finger_hand - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 188 - total_frames: 158699 - total_tasks: 1 - total_videos: 564 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:187 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml index 3f286b9f97b7b624fdebeb09d600dd24db3efc10..0fadc2089817f0469dd5b738b663236665b8595a 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml @@ -1,16 +1,15 @@ +path: G1edu-u3_pullBowl_storage_bread_unordered_b dataset_name: pullBowl_storage_bread_unordered_b -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place - receive -end_effector_type: -- five_finger_hand -operation_platform_height: 77.2 +tasks: Abnormal objects: - object_name: table level1: furniture @@ -48,41 +47,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_pullBowl_storage_bread_unordered_b -video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-118843 dataset_size: 2.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 190 total_frames: 118843 @@ -91,246 +58,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:189 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Push the bowl to the center of the table and put the bread into the bowl. +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -348,145 +81,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_left_high - name: cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist - name: cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist - name: cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_left_high - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - - key: observation.images.cam_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -505,408 +151,3 @@ structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 571 - dataset_name: pullBowl_storage_bread_unordered_b - dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 - device_model: Unitree_G1edu-u3 - end_effector_type: five_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered2/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_b - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - - receive - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: faucet - level1: water_dispenser - level2: faucet - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - - object_name: orange_juice - level1: drink - level2: orange_juice - level3: null - level4: null - level5: null - - object_name: cola - level1: beverages - level2: cola - level3: null - level4: null - level5: null - - object_name: sprite - level1: beverages - level2: sprite - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: pullBowl_storage_bread_unordered_b - dataset_uuid: null - task_descriptions: - - place the cup under the faucet to collect the cola, remove the cup. - - place the cup under the faucet to collect the orange juice, remove the cup. - - place the cup under the faucet to collect the sprite, remove the cup. - - the left hand pick up the cup from the table. - - the right hand pick up the cup from the table. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - receive - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: faucet - level1: tool - level2: faucet - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: orange_juice - level1: drink - level2: orange_juice - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: sprite - level1: drink - level2: sprite - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: - - five_finger_hand - - three_finger_hand - meta: - robot_type: Unitree_G1_Dex3_phecda - codebase_version: v2.1 - statistics: - total_episodes: 190 - total_frames: 118843 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:189 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - observation.images.cam_left_high: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_bread_aw.yaml b/dataset_info/G1edu-u3_put_the_bread_aw.yaml index 7dc70e0526b96e7bda54afa45da80bb6394fbfa5..92e6f82aad76e4b1c5c811ad94966af4d2259538 100644 --- a/dataset_info/G1edu-u3_put_the_bread_aw.yaml +++ b/dataset_info/G1edu-u3_put_the_bread_aw.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_bread_aw dataset_name: put_the_bread_aw -dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the long bread on the table with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_bread_aw -video_url: ./assets/videos/G1edu-u3_put_the_bread_aw.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_bread_aw.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-5153 dataset_size: 65.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 26 total_frames: 5153 @@ -64,232 +32,12 @@ statistics: total_chunks: 1 chunks_size: 26 fps: 30 -splits: - train: 0:25 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the long bread on the table with left gripper - End @@ -303,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -431,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 593 - dataset_name: put_the_bread_aw - dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_bread_aw/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_bread_aw - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 26 - total_frames: 5153 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 - splits: - train: 0:25 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_cup_b.yaml b/dataset_info/G1edu-u3_put_the_cup_b.yaml index 276d3aec204338459e1635e659f6c3a3617d8200..c5443d4e732be9c88bad23991de270902587e209 100644 --- a/dataset_info/G1edu-u3_put_the_cup_b.yaml +++ b/dataset_info/G1edu-u3_put_the_cup_b.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_cup_b dataset_name: put_the_cup_b -dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_cup_b -video_url: ./assets/videos/G1edu-u3_put_the_cup_b.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_cup_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-6447 dataset_size: 73.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 29 total_frames: 6447 @@ -64,236 +32,12 @@ statistics: total_chunks: 1 chunks_size: 29 fps: 30 -splits: - train: 0:28 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the paper cup on the table with right gripper @@ -307,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -435,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 617 - dataset_name: put_the_cup_b - dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/put_the_cup_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_cup_b - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 29 - total_frames: 6447 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 - splits: - train: 0:28 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_lemon_af.yaml b/dataset_info/G1edu-u3_put_the_lemon_af.yaml index 5d0b77f1aafaebebabeadb32110056b7a7ff2e21..9dec8f9c3d47484c8ae4a53e2d8b5de49e9b153e 100644 --- a/dataset_info/G1edu-u3_put_the_lemon_af.yaml +++ b/dataset_info/G1edu-u3_put_the_lemon_af.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_lemon_af dataset_name: put_the_lemon_af -dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_lemon_af -video_url: ./assets/videos/G1edu-u3_put_the_lemon_af.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_lemon_af.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-3544 dataset_size: 37.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 19 total_frames: 3544 @@ -64,232 +32,12 @@ statistics: total_chunks: 1 chunks_size: 19 fps: 30 -splits: - train: 0:18 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the lemon on the table with right gripper @@ -303,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -431,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 594 - dataset_name: put_the_lemon_af - dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_lemon_af/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_lemon_af - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 19 - total_frames: 3544 - total_tasks: 1 - total_videos: 19 - total_chunks: 1 - chunks_size: 19 - fps: 30 - splits: - train: 0:18 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml index c14fa29520f6fe3f2a75b6b87be21bb0be6f1e7d..54923e9aa968c3af0dcd7ab25460c04f4e6c7722 100644 --- a/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml +++ b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_lemon_on_the_plate_ah dataset_name: put_the_lemon_on_the_plate_ah -dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the lemon on the orange plate with right gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_lemon_on_the_plate_ah -video_url: ./assets/videos/G1edu-u3_put_the_lemon_on_the_plate_ah.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_lemon_on_the_plate_ah.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-1961 dataset_size: 20.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 9 total_frames: 1961 @@ -70,232 +38,12 @@ statistics: total_chunks: 1 chunks_size: 9 fps: 30 -splits: - train: 0:8 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the lemon on the orange plate with right gripper - End @@ -308,117 +56,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -436,268 +89,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 599 - dataset_name: put_the_lemon_on_the_plate_ah - dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_lemon_on_the_plate_ah/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_lemon_on_the_plate_ah - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 9 - total_frames: 1961 - total_tasks: 1 - total_videos: 9 - total_chunks: 1 - chunks_size: 9 - fps: 30 - splits: - train: 0:8 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml index ae7f8d4518260adae6ca8c15edae33c2fe467cd8..0d8b90148e2e6d9f49ed6c091d504348031d0d8d 100644 --- a/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml +++ b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_tissue_box_al dataset_name: put_the_tissue_box_al -dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_tissue_box_al -video_url: ./assets/videos/G1edu-u3_put_the_tissue_box_al.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_tissue_box_al.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-10816 dataset_size: 142.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 39 total_frames: 10816 @@ -70,232 +38,12 @@ statistics: total_chunks: 1 chunks_size: 41 fps: 30 -splits: - train: 0:38 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the tissue box on the table with both gripper @@ -308,117 +56,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -436,268 +89,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 597 - dataset_name: put_the_tissue_box_al - dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_tissue_box_al/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_tissue_box_al - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: tissue - level1: daily_necessities - level2: tissue - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 39 - total_frames: 10816 - total_tasks: 1 - total_videos: 39 - total_chunks: 1 - chunks_size: 41 - fps: 30 - splits: - train: 0:38 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_toy_ap.yaml b/dataset_info/G1edu-u3_put_the_toy_ap.yaml index 9f50a094533f82eeba9a643ff5e691ebee8b0cba..40dedd23f919c0ff096c0b7f80382a8e80ffb988 100644 --- a/dataset_info/G1edu-u3_put_the_toy_ap.yaml +++ b/dataset_info/G1edu-u3_put_the_toy_ap.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_toy_ap dataset_name: put_the_toy_ap -dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the toy bear on the table with left gripper objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_toy_ap -video_url: ./assets/videos/G1edu-u3_put_the_toy_ap.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_toy_ap.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-2242 dataset_size: 32.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 9 total_frames: 2242 @@ -64,232 +32,12 @@ statistics: total_chunks: 1 chunks_size: 10 fps: 30 -splits: - train: 0:8 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the toy bear on the table with left gripper - End @@ -303,117 +51,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -431,262 +84,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 595 - dataset_name: put_the_toy_ap - dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_toy_ap/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_toy_ap - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: toy - level1: toy - level2: toy - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 9 - total_frames: 2242 - total_tasks: 1 - total_videos: 9 - total_chunks: 1 - chunks_size: 10 - fps: 30 - splits: - train: 0:8 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml index 3315714ddce0244a697dcfa56f0460bde59f4389..d1bde3df7249a4d20bc0866b066af1b7796d0de6 100644 --- a/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml +++ b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_water_bottle_aq dataset_name: put_the_water_bottle_aq -dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_water_bottle_aq -video_url: ./assets/videos/G1edu-u3_put_the_water_bottle_aq.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_water_bottle_aq.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-5861 dataset_size: 73.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 21 total_frames: 5861 @@ -70,232 +38,12 @@ statistics: total_chunks: 1 chunks_size: 24 fps: 30 -splits: - train: 0:20 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the water bottle - - Pick up the bread - - Pick up the pink cup - - Pick up the lemmon - - Pick up the tissue box - - Pick up the toy bear - - Place the water bottle - - Place the bread - - Place the pink cup - - Place the lemon - - Place the lemon on the orange round plate - - Place the tissue box - - Place the toy bear' +dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the water bottle on the table with left gripper @@ -309,117 +57,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -437,268 +90,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 591 - dataset_name: put_the_water_bottle_aq - dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_water_bottle_aq/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_water_bottle_aq - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: water - level1: beverages - level2: water - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 21 - total_frames: 5861 - total_tasks: 1 - total_videos: 21 - total_chunks: 1 - chunks_size: 24 - fps: 30 - splits: - train: 0:20 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml index fa6807120d0c1a7f4795d7d7c930ba7a93c988f2..348e31ffbce23a59abba0a038ad186bafef4ea0a 100644 --- a/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml +++ b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_put_the_water_bottle_on_the_table_d dataset_name: put_the_water_bottle_on_the_table_d -dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the water bottle on the table with left gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_put_the_water_bottle_on_the_table_d -video_url: ./assets/videos/G1edu-u3_put_the_water_bottle_on_the_table_d.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_water_bottle_on_the_table_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-6580 dataset_size: 82.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 32 total_frames: 6580 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 32 fps: 30 -splits: - train: 0:31 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the water bottle on the table with left gripper - End @@ -313,117 +57,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -441,268 +90,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 609 - dataset_name: put_the_water_bottle_on_the_table_d - dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/put_the_water_bottle_on_the_table_d/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_water_bottle_on_the_table_d - scene_types: - - home - atomic_actions: - - grasp - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: water - level1: beverages - level2: water - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 32 - total_frames: 6580 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 32 - fps: 30 - splits: - train: 0:31 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/G1edu-u3_stack_bowls.yaml b/dataset_info/G1edu-u3_stack_bowls.yaml index 20d464e259c32a069b0c69e5913d47e2e883f075..7527a77a0f2040fa2f2099ca30c2e6f4248df1aa 100644 --- a/dataset_info/G1edu-u3_stack_bowls.yaml +++ b/dataset_info/G1edu-u3_stack_bowls.yaml @@ -1,15 +1,14 @@ +path: G1edu-u3_stack_bowls dataset_name: stack_bowls -dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: 77.2 +tasks: Place the bowl on the right onto the bowl in the middle with right gripper objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_stack_bowls -video_url: ./assets/videos/G1edu-u3_stack_bowls.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_stack_bowls.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-166122 dataset_size: 7.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 261 total_frames: 166122 @@ -66,252 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:260 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the bowl on one side of the table and place it on top of the middle - bowl, then pick up the bowl on the other side of the table and place it on top of - the middle bowls. - - Pick up the bowl on one side of the table and place it on top of the middle bowl, - then pick up the bowl on the other side of the table and place it on top of the - middle bowls.' +dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the bowl on the right onto the bowl in the middle with right gripper - Grasp the bowl on the right with the right gripper @@ -329,145 +56,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_left_wrist - name: color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.color_right_wrist - name: color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_left_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.color_right_wrist - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -485,357 +124,3 @@ structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 6 - dataset_name: stack_bowls - dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/stack_bowls/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_stack_bowls - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: bowl - level2: bowl - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: stack_bowls - dataset_uuid: null - task_descriptions: - - the left hand pick up the bowl on the left side of the table and place it on - top of the middle bowl, the right hand pick up the bowl on the right side of - the table and place it on top of the middle bowls. - - the right hand pick up the bowl on the right side of the table and place it - on top of the middle bowl, the left hand pick up the bowl on the left side of - the table and place it on top of the middle bowls. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - unitree_g1 - end_effector_type: five_finger_hand - meta: - robot_type: unitree_g1 - codebase_version: v2.1 - statistics: - total_episodes: 261 - total_frames: 166122 - total_tasks: 2 - total_videos: 783 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:260 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_left_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.color_right_wrist: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml index 31ccce6d5f76a473daf714a369e8e2822d0a6b3c..145e5797ae6b79b0eda9a479188ccdfd44f5ef78 100644 --- a/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml +++ b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml @@ -1,13 +1,13 @@ +path: G1edu-u3_tray_storage_lemon_a dataset_name: tray_storage_lemon_a -dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 -scene_type: -- home +robot_type: '' +end_effector_type: +- three_finger_hand +scene_type: [] atomic_actions: - pick - place -end_effector_type: -- three_finger_hand -operation_platform_height: null +tasks: Place the lemon on the blue plate with left gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: G1edu-u3_tray_storage_lemon_a -video_url: ./assets/videos/G1edu-u3_tray_storage_lemon_a.mp4 -thumbnail_url: ./assets/thumbnails/G1edu-u3_tray_storage_lemon_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-2298 dataset_size: 27.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Unitree_G1edu-u3 -codebase_version: v2.1 statistics: total_episodes: 13 total_frames: 2298 @@ -70,236 +38,12 @@ statistics: total_chunks: 1 chunks_size: 13 fps: 30 -splits: - train: 0:12 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: 'Pick up the red apple - - Pick up the red apple - - Pick up the water bottle - - Pick up the water bottle - - Pick up the white cup - - Pick up the lemon - - Place the red apple - - Place the red apple in the basket - - Place the red apple on the blue rectangle plate - - Place the red apple on the orange round plate - - Place the water bottle - - Place the water bottle - - Place the white cup - - Place the lemon on the blue rectangle plate - - Place the lemon on the orange round plate' +dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the lemon on the blue plate with left gripper - Place the lemon on the blue plate with right gripper @@ -313,117 +57,22 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.ego_view - name: ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.ego_view - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -action_space: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated -depth_enabled: false -data_schema: auto_generated -structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -441,268 +90,26 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 611 - dataset_name: tray_storage_lemon_a - dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 - device_model: Unitree_G1edu-u3 - end_effector_type: three_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/tray_storage_lemon_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_tray_storage_lemon_a - scene_types: - - home - atomic_actions: - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - - object_name: lemon - level1: fruits - level2: lemon - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: {} - meta: - robot_type: null - codebase_version: v2.1 - statistics: - total_episodes: 13 - total_frames: 2298 - total_tasks: 1 - total_videos: 13 - total_chunks: 1 - chunks_size: 13 - fps: 30 - splits: - train: 0:12 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.ego_view: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channel - info: - video.height: 480 - video.width: 640 - video.codec: h264 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - action: - dtype: float32 - shape: - - 30 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - left_hand_joint_7_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - right_hand_joint_7_rad - timestamp: - dtype: float64 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false +depth_enabled: false +data_schema: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" diff --git a/dataset_info/Galbot_g1_fold_clothe_b.yaml b/dataset_info/Galbot_g1_fold_clothe_b.yaml index 9653ad370f7b64a6bcb346e8d1f1acf524b026f3..c0a6231eeb3d4dbca4b8ea6d63e5433e7834a692 100644 --- a/dataset_info/Galbot_g1_fold_clothe_b.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_b.yaml @@ -1,15 +1,15 @@ +path: Galbot_g1_fold_clothe_b dataset_name: fold_clothe_b -dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - flod -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Abnormal objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_fold_clothe_b -video_url: ./assets/videos/Galbot_g1_fold_clothe_b.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-197328 dataset_size: 8.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 213 total_frames: 197328 @@ -66,290 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:212 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fold and organize the clothes. +dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - use the left gripper to clamp the left edge of the fabric @@ -374,154 +64,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -539,368 +132,3 @@ structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 488 - dataset_name: fold_clothe_b - dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_b - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - - flod - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: clothes - level1: fabric - level2: clothes - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 213 - total_frames: 197328 - total_tasks: 1 - total_videos: 639 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:212 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_fold_clothe_c.yaml b/dataset_info/Galbot_g1_fold_clothe_c.yaml index 28197e459ba81ddb673e163459446abd9ede3a62..c03921c7f22dd178f1872bc5f2defb0b96dfedfe 100644 --- a/dataset_info/Galbot_g1_fold_clothe_c.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_c.yaml @@ -1,15 +1,15 @@ +path: Galbot_g1_fold_clothe_c dataset_name: fold_clothe_c -dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - flod -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Abnormal objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_fold_clothe_c -video_url: ./assets/videos/Galbot_g1_fold_clothe_c.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-516810 dataset_size: 22.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 666 total_frames: 516810 @@ -66,290 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:665 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fold and organize the clothes. +dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - use the left gripper to clamp the left edge of the fabric @@ -374,154 +64,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -539,368 +132,3 @@ structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 491 - dataset_name: fold_clothe_c - dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a004/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_c - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - - flod - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: clothes - level1: fabric - level2: clothes - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 666 - total_frames: 516810 - total_tasks: 1 - total_videos: 1998 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:665 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_fold_clothe_e.yaml b/dataset_info/Galbot_g1_fold_clothe_e.yaml index 3618d3864453dace1d4916daca9a431a0a2aa4a2..97475371efcc7c0303119d9eb52aadca7320153b 100644 --- a/dataset_info/Galbot_g1_fold_clothe_e.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_e.yaml @@ -1,15 +1,15 @@ +path: Galbot_g1_fold_clothe_e dataset_name: fold_clothe_e -dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - flod -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Flip the folded clothes over with right gripper objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_fold_clothe_e -video_url: ./assets/videos/Galbot_g1_fold_clothe_e.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-692130 dataset_size: 25.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 865 total_frames: 692130 @@ -66,290 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:864 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fold and organize the clothes. +dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Flip the folded clothes over with right gripper - Abnormal @@ -375,154 +65,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -540,368 +133,3 @@ structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 492 - dataset_name: fold_clothe_e - dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a006/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_e - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - - flod - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: clothes - level1: fabric - level2: clothes - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 865 - total_frames: 692130 - total_tasks: 1 - total_videos: 2595 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:864 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml index 16dd22b681a2accac707986eceaea095a2147256..25f58e27e00b1a68b56ebd4ec7ca1229bb00495e 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_a dataset_name: steamer_storage_baozi_a -dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_a -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_a.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-250217 dataset_size: 4.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 266 total_frames: 250217 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:265 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the baozi on the steamer with right gripper @@ -382,154 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -548,385 +142,3 @@ structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 145 - dataset_name: steamer_storage_baozi_a - dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a001/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 266 - total_frames: 250217 - total_tasks: 1 - total_videos: 798 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:265 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml index 4a5305851d1d99e5eb9ecdf7dd74bcd1bff663d1..ed85e8d73c9db824276f5c13f32c8990ccb7e607 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_b dataset_name: steamer_storage_baozi_b -dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_b -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_b.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-449647 dataset_size: 8.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 430 total_frames: 449647 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:429 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -383,154 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -549,385 +143,3 @@ structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 502 - dataset_name: steamer_storage_baozi_b - dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a002/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_b - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 430 - total_frames: 449647 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:429 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml index dcf221117a474ee55fda4c38f10f02ee6a069c5f..d62c60be291d99850617116511684b11b8545de1 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_c dataset_name: steamer_storage_baozi_c -dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_c -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_c.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-226059 dataset_size: 4.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 207 total_frames: 226059 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:206 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -383,154 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -549,385 +143,3 @@ structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 501 - dataset_name: steamer_storage_baozi_c - dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a003/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_c - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 207 - total_frames: 226059 - total_tasks: 1 - total_videos: 621 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:206 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml index ce8508697c072643c3330e3845eb8ff14c361da9..e4e69aec941ff2744af789f8a9a73f13dc614891 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_d dataset_name: steamer_storage_baozi_d -dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_d -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_d.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-992823 dataset_size: 16.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 969 total_frames: 992823 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:968 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -383,154 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -549,385 +143,3 @@ structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 503 - dataset_name: steamer_storage_baozi_d - dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a004/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_d - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: 1000 - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 969 - total_frames: 992823 - total_tasks: 1 - total_videos: 2907 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:968 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml index 6d2d8d90de43ced83d16f028520a20a8742c0c2a..10f13194da2bd94062586591f33d0954e966f384 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_e dataset_name: steamer_storage_baozi_e -dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_e -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_e.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-627792 dataset_size: 11.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 607 total_frames: 627792 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:606 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -383,154 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -549,385 +143,3 @@ structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 504 - dataset_name: steamer_storage_baozi_e - dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a005/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_e - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 607 - total_frames: 627792 - total_tasks: 1 - total_videos: 1821 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:606 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml index 2e3e220e49302e9e719660cb619c720ab44cf34c..307cebf51e4a6d27f51aa693ba03088912599344 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_f dataset_name: steamer_storage_baozi_f -dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_f -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_f.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_f.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-101540 dataset_size: 2.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 96 total_frames: 101540 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:95 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -382,154 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -548,385 +142,3 @@ structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 506 - dataset_name: steamer_storage_baozi_f - dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a006/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_f - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 96 - total_frames: 101540 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:95 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml index ae69bc6760edbd6c4bdd4463a8c156f71a8c4dec..891b4f51ce5d87d42ad5da72030a8759d5c58c5b 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_g dataset_name: steamer_storage_baozi_g -dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_g -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_g.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_g.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-87860 dataset_size: 1.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 89 total_frames: 87860 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:88 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -382,154 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -548,385 +142,3 @@ structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 508 - dataset_name: steamer_storage_baozi_g - dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a007/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_g - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 89 - total_frames: 87860 - total_tasks: 1 - total_videos: 267 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:88 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml index 2ce8d2eaab5c13cebbabe58c7fd0c5757916d67c..398b4fa9c9b7e05036310eaf92ed3038a62ba47d 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_h dataset_name: steamer_storage_baozi_h -dataset_uuid: 23188104-2751-4169-b13b-286381a44645 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_h -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_h.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_h.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-979757 dataset_size: 18.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 996 total_frames: 979757 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:995 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 23188104-2751-4169-b13b-286381a44645 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the baozi on the steamer with right gripper @@ -382,154 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -548,385 +142,3 @@ structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 505 - dataset_name: steamer_storage_baozi_h - dataset_uuid: 23188104-2751-4169-b13b-286381a44645 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a008/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_h - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 996 - total_frames: 979757 - total_tasks: 1 - total_videos: 2988 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:995 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml index b25e0007da95c25b4eec2bb211408ebc32ada037..fa3b7704153b3a5c6d6f82390f46ff9ad65c11c2 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_i dataset_name: steamer_storage_baozi_i -dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the pot lid with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_i -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_i.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_i.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-30158 dataset_size: 558.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 32 total_frames: 30158 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:31 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -382,154 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -548,385 +142,3 @@ structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 507 - dataset_name: steamer_storage_baozi_i - dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a009/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_i - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 32 - total_frames: 30158 - total_tasks: 1 - total_videos: 96 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:31 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml index fed8794d3b9eee159c09f89c94e74e1fdb5557f2..1932b0716a0548626381f889a38f4be51e1d3097 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml @@ -1,14 +1,14 @@ +path: Galbot_g1_steamer_storage_baozi_j dataset_name: steamer_storage_baozi_j -dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the pot lid on the table with left gripper objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: Galbot_g1_steamer_storage_baozi_j -video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_j.mp4 -thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_j.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-56015 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galbot_G1 -codebase_version: v2.1 statistics: total_episodes: 41 total_frames: 56015 @@ -83,290 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:40 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take steamed baozi put them in steamer then cover it. +dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the pot lid on the table with left gripper - Grasp the pot lid with left gripper @@ -387,154 +77,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - resolution: - - 368 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm -action_space: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -553,385 +147,3 @@ structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 509 - dataset_name: steamer_storage_baozi_j - dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 - device_model: Galbot_G1 - end_effector_type: two_finger_gripper - operation_platform_height: 0.0 - yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a010/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_j - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: baozi - level1: food - level2: baozi - level3: null - level4: null - level5: null - - object_name: steamer - level1: cookware - level2: steamer - level3: null - level4: null - level5: null - - object_name: pot_lid - level1: daily_necessities - level2: pot_lid - level3: null - level4: null - level5: null - - object_name: plate - level1: kitchen_supplies - level2: plate - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: yinhe - codebase_version: v2.1 - statistics: - total_episodes: 41 - total_frames: 56015 - total_tasks: 1 - total_videos: 123 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:40 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 368 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 368 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 49 - names: - - body_joint_1_rad - - body_joint_2_rad - - body_joint_3_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - action: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml index 317662bfb540dff5d28e2437cb4eb5209dc1b181..1dccb9697c7d663950b5da7e6b43fc36f12846b2 100644 --- a/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml +++ b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_boil_water_in_a_kettle dataset_name: boil_water_in_a_kettle -dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Start boiling water objects: - object_name: stove_top level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_boil_water_in_a_kettle -video_url: ./assets/videos/R1_Lite_boil_water_in_a_kettle.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_boil_water_in_a_kettle.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-85792 dataset_size: 3.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 75 total_frames: 85792 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:74 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place kettle on heating plate heat then set beside sink. +dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Start boiling water - Place it on the power base @@ -341,117 +68,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -470,353 +138,3 @@ structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 426 - dataset_name: boil_water_in_a_kettle - dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/boil_water/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_boil_water_in_a_kettle - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: boil_water_in_a_kettle - dataset_uuid: null - task_descriptions: - - place kettle on heating plate heat then set beside sink. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: stove_top - level1: furniture - level2: stove_top - level3: null - level4: null - level5: null - - object_name: boil_the_kettle - level1: electric_appliance - level2: boil_the_kettle - level3: null - level4: null - level5: null - - object_name: heating_plate - level1: electric_appliance - level2: heating_plate - level3: null - level4: null - level5: null - - object_name: sink - level1: container - level2: sink - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 75 - total_frames: 85792 - total_tasks: 1 - total_videos: 225 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:74 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_build_blocks.yaml b/dataset_info/R1_Lite_build_blocks.yaml index 7a55af6d6646c50b46e3987247775bbe7121adad..ac519d2d837695253fcb7c9ee9412485dc2c2858 100644 --- a/dataset_info/R1_Lite_build_blocks.yaml +++ b/dataset_info/R1_Lite_build_blocks.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_build_blocks dataset_name: build_blocks -dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 -scene_type: -- home -- living_room +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the arch-shaped block in the center of view with the left gripper objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_build_blocks -video_url: ./assets/videos/R1_Lite_build_blocks.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_build_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-59296 dataset_size: 1.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 66 total_frames: 59296 @@ -66,277 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:65 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the arched building blocks in the center of the table, set up the rectangular - building blocks, and then set up the triangular building blocks. +dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the arch-shaped block in the center of view with the left gripper - Grasp the arch-shaped block with the left gripper @@ -355,143 +57,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -512,366 +131,3 @@ structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 17 - dataset_name: build_blocks - dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/build_blocks/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_build_blocks - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: build_blocks - dataset_uuid: null - task_descriptions: - - place the arched building blocks in the center of the table, set up the rectangular - building blocks, and then set up the triangular building blocks. - scene_type: - - home - - living_room - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: blocks - level1: toy - level2: blocks - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 66 - total_frames: 59296 - total_tasks: 1 - total_videos: 264 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:65 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_catch_the_water.yaml b/dataset_info/R1_Lite_catch_the_water.yaml index 0b0d9f6bf473ab8f269586b094b28bf22bb00fd0..cdcc7713bcbf1de8805b7b91c1a257966b5f64e5 100644 --- a/dataset_info/R1_Lite_catch_the_water.yaml +++ b/dataset_info/R1_Lite_catch_the_water.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_catch_the_water dataset_name: catch_the_water -dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - open - close -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the cup next to the water dispenser objects: - object_name: table level1: furniture @@ -30,41 +30,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_catch_the_water -video_url: ./assets/videos/R1_Lite_catch_the_water.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_catch_the_water.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-133503 dataset_size: 5.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 148 total_frames: 133503 @@ -73,253 +41,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:147 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fill cup with faucet water then turn off and place on table. +dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cup next to the water dispenser - abnormal @@ -336,117 +63,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -464,351 +131,3 @@ structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 412 - dataset_name: catch_the_water - dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/collect_juice/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_catch_the_water - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: catch_the_water - dataset_uuid: null - task_descriptions: - - pick up the cup from the table and place it in the drain. turn on the faucet - and fill it with water. turn off the faucet and put the cup back in its original - position. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - - close - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: water_dispenser - level1: container - level2: water_dispenser - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 148 - total_frames: 133503 - total_tasks: 1 - total_videos: 444 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:147 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_the_floor.yaml b/dataset_info/R1_Lite_clean_the_floor.yaml index 5dc52cf05f500ac02f547a3dfd222d717fa46b1e..49172d22024684dec4df7a1244d3906b35e5b38b 100644 --- a/dataset_info/R1_Lite_clean_the_floor.yaml +++ b/dataset_info/R1_Lite_clean_the_floor.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_clean_the_floor dataset_name: clean_the_floor -dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - wipe -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: abnormal objects: - object_name: floor level1: home_building_materials @@ -35,41 +35,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_clean_the_floor -video_url: ./assets/videos/R1_Lite_clean_the_floor.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_clean_the_floor.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-159495 dataset_size: 10.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 87 total_frames: 159495 @@ -78,253 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:86 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: wipe floor under carpet with rag then place foam net on floor. +dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - abnormal - Put down the rag @@ -343,117 +70,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -471,354 +138,3 @@ structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 410 - dataset_name: clean_the_floor - dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/lift_up_the_carpet_and_wipe_the_floor/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_the_floor - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_the_floor - dataset_uuid: null - task_descriptions: - - wipe floor under carpet with rag then place the cloth on the ground. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - wipe - objects: - - object_name: floor - level1: home_building_materials - level2: floor - level3: null - level4: null - level5: null - - object_name: rag - level1: fabric - level2: rag - level3: null - level4: null - level5: null - - object_name: carpet - level1: fabric - level2: carpet - level3: null - level4: null - level5: null - - object_name: foam_cleaning_net - level1: cleaning_supplies - level2: foam_cleaning_net - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 87 - total_frames: 159495 - total_tasks: 1 - total_videos: 261 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:86 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_the_sink.yaml b/dataset_info/R1_Lite_clean_the_sink.yaml index 250b1c3fd1ba43a130eac43543b3c9d3ef48501e..55f2f5adaeec9bf5ce265c99ede10814c0ae0208 100644 --- a/dataset_info/R1_Lite_clean_the_sink.yaml +++ b/dataset_info/R1_Lite_clean_the_sink.yaml @@ -1,7 +1,9 @@ +path: R1_Lite_clean_the_sink dataset_name: clean_the_sink -dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick @@ -9,9 +11,7 @@ atomic_actions: - open - wipe - close -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the cloth objects: - object_name: washbasin level1: container @@ -31,41 +31,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_clean_the_sink -video_url: ./assets/videos/R1_Lite_clean_the_sink.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_clean_the_sink.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-104391 dataset_size: 3.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 120 total_frames: 104391 @@ -74,253 +42,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:119 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: turn on faucet off wipe washbasin place rag beside it. +dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the cloth - Turn on the faucet @@ -335,117 +62,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -463,351 +130,3 @@ structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 420 - dataset_name: clean_the_sink - dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_the_sink/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_the_sink - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_the_sink - dataset_uuid: null - task_descriptions: - - turn on the faucet, turn off the faucet, wipe the washbasin clean, and place - a cloth next to it.. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - - wipe - - close - objects: - - object_name: washbasin - level1: container - level2: washbasin - level3: null - level4: null - level5: null - - object_name: faucet - level1: tool - level2: faucet - level3: null - level4: null - level5: null - - object_name: rag - level1: clothing - level2: rag - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 120 - total_frames: 104391 - total_tasks: 1 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:119 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_toilet.yaml b/dataset_info/R1_Lite_clean_toilet.yaml index 25d30eb25335b7bf309848743f25631b78749d9a..6a9c68bf9e206a3971956c6b5958af1651610dfa 100644 --- a/dataset_info/R1_Lite_clean_toilet.yaml +++ b/dataset_info/R1_Lite_clean_toilet.yaml @@ -1,7 +1,9 @@ +path: R1_Lite_clean_toilet dataset_name: clean_toilet -dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick @@ -9,9 +11,7 @@ atomic_actions: - close - open - press -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Use the left hand to lift the toilet lid slightly objects: - object_name: toilet level1: sanitary_ware @@ -37,41 +37,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_clean_toilet -video_url: ./assets/videos/R1_Lite_clean_toilet.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_clean_toilet.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-264408 dataset_size: 11.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 264408 @@ -80,253 +48,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pour toilet cleaner brush toilet flush then close lid. +dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Use the left hand to lift the toilet lid slightly - Pour in the cleaning agent @@ -348,117 +75,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -476,356 +143,3 @@ structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 414 - dataset_name: clean_toilet - dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_toilet/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_toilet - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_toilet - dataset_uuid: null - task_descriptions: - - open the toilet seat pour toilet cleaner brush toilet flush then close lid. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - close - - open - - press - objects: - - object_name: toilet - level1: sanitary_ware - level2: toilet - level3: null - level4: null - level5: null - - object_name: toilet_brush - level1: tool - level2: toilet_brush - level3: null - level4: null - level5: null - - object_name: toilet_brush_base - level1: tool - level2: toilet_brush_base - level3: null - level4: null - level5: null - - object_name: toilet_cleaner - level1: daily_necessities - level2: toilet_cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 264408 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_connect_the_router_cable.yaml b/dataset_info/R1_Lite_connect_the_router_cable.yaml index d0d88a38930c8e6de029e3b8f6182603bea93bfb..c41ee0300c8dd22a8a3a7a3e3e745aad28134f29 100644 --- a/dataset_info/R1_Lite_connect_the_router_cable.yaml +++ b/dataset_info/R1_Lite_connect_the_router_cable.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_connect_the_router_cable dataset_name: connect_the_router_cable -dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - insert -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Hand it to the other hand objects: - object_name: table level1: furniture @@ -41,41 +41,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_connect_the_router_cable -video_url: ./assets/videos/R1_Lite_connect_the_router_cable.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_connect_the_router_cable.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-165617 dataset_size: 9.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 105 total_frames: 165617 @@ -84,253 +52,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:104 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: insert plug into socket then connect cable to router interface. +dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand it to the other hand - Pick up plug @@ -367,117 +94,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -496,360 +164,3 @@ structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 411 - dataset_name: connect_the_router_cable - dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/connect_router_cables/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_connect_the_router_cable - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: connect_the_router_cable - dataset_uuid: null - task_descriptions: - - insert plug into socket then connect cable to router interface. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - insert - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: router - level1: electric_appliance - level2: router - level3: null - level4: null - level5: null - - object_name: socket - level1: electric_appliance - level2: socket - level3: null - level4: null - level5: null - - object_name: cable - level1: electric_appliance - level2: cable - level3: null - level4: null - level5: null - - object_name: plug - level1: electric_appliance - level2: plug - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 105 - total_frames: 165617 - total_tasks: 1 - total_videos: 315 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:104 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_cook_a_meal.yaml b/dataset_info/R1_Lite_cook_a_meal.yaml index 6db4791568ff38e44d271f10d125f07d21f809c2..e988dc5ef11934b487a68f1d1f189841a5641401 100644 --- a/dataset_info/R1_Lite_cook_a_meal.yaml +++ b/dataset_info/R1_Lite_cook_a_meal.yaml @@ -1,7 +1,9 @@ +path: R1_Lite_cook_a_meal dataset_name: cook_a_meal -dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick @@ -10,9 +12,7 @@ atomic_actions: - pressbutton - close - flip -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Turn off the faucet with the right gripper objects: - object_name: bowl level1: container @@ -50,41 +50,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_cook_a_meal -video_url: ./assets/videos/R1_Lite_cook_a_meal.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_cook_a_meal.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-161442 dataset_size: 7.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 82 total_frames: 161442 @@ -93,253 +61,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:81 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put rice water scallions into rice cooker press start button. +dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn off the faucet with the right gripper - Pour water into the rice cooker with the left gripper @@ -376,117 +103,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -504,369 +171,3 @@ structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 407 - dataset_name: cook_a_meal - dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/cooking_rice_in_electric_rice_cooker/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_cook_a_meal - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: cook_a_meal - dataset_uuid: null - task_descriptions: - - put rice water scallions into rice cooker press start button. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - - pressbutton - - close - - flip - objects: - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: rice_cooker - level1: electric_appliance - level2: rice_cooker - level3: null - level4: null - level5: null - - object_name: rice - level1: food - level2: rice - level3: null - level4: null - level5: null - - object_name: tap - level1: tool - level2: tap - level3: null - level4: null - level5: null - - object_name: chopped_scallions - level1: food - level2: chopped_scallions - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 82 - total_frames: 161442 - total_tasks: 1 - total_videos: 246 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:81 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_cover_the_pot_lid.yaml b/dataset_info/R1_Lite_cover_the_pot_lid.yaml index b6383602454c8bac2e064b6b78dc104000bef417..e4ba134ef5198c9516b4727ae8539cac3809fe3d 100644 --- a/dataset_info/R1_Lite_cover_the_pot_lid.yaml +++ b/dataset_info/R1_Lite_cover_the_pot_lid.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_cover_the_pot_lid dataset_name: cover_the_pot_lid -dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the steamer objects: - object_name: steamer_cage level1: container @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_cover_the_pot_lid -video_url: ./assets/videos/R1_Lite_cover_the_pot_lid.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_cover_the_pot_lid.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-65358 dataset_size: 4.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 65358 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the lid of the steamer and place it on the steamer. +dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the steamer - Put the steamer @@ -324,117 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -452,341 +120,3 @@ structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 399 - dataset_name: cover_the_pot_lid - dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/lift_the_steamer_lid/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_cover_the_pot_lid - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 101 - yaml: - dataset_name: cover_the_pot_lid - dataset_uuid: null - task_descriptions: - - pick up the lid of the steamer and place it on the steamer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: steamer_cage - level1: container - level2: steamer_cage - level3: null - level4: null - level5: null - - object_name: steamer_lid - level1: daily_necessities - level2: steamer_lid - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 65358 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_dispose_of_leftover_food.yaml b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml index 88ca0f85033af150512c7df07d0ed70ff0daab9d..2f8363c6a55d44690c9b372113fb0455992d97b7 100644 --- a/dataset_info/R1_Lite_dispose_of_leftover_food.yaml +++ b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_dispose_of_leftover_food dataset_name: dispose_of_leftover_food -dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - flip -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Move the bowl over the trash can objects: - object_name: table level1: furniture @@ -41,41 +41,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_dispose_of_leftover_food -video_url: ./assets/videos/R1_Lite_dispose_of_leftover_food.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_dispose_of_leftover_food.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-135632 dataset_size: 7.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 127 total_frames: 135632 @@ -84,253 +52,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:126 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pour leftovers from bowl or plate into trash can put back. +dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move the bowl over the trash can - Pour the leftover food from the plate into the trash can @@ -349,117 +76,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -478,360 +146,3 @@ structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 406 - dataset_name: dispose_of_leftover_food - dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/dispose_of_leftover_food/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_dispose_of_leftover_food - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: dispose_of_leftover_food - dataset_uuid: null - task_descriptions: - - pour leftovers from bowl or plate into trash can put back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - flip - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: garbage_bin - level1: container - level2: garbage_bin - level3: null - level4: null - level5: null - - object_name: leftovers - level1: garbage - level2: leftovers - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 127 - total_frames: 135632 - total_tasks: 1 - total_videos: 381 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:126 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml index 3159641678b9f2a26a8401f301f64904fc518d28..aba040e6222aa98a0b93236bce57a00f8c97bc6a 100644 --- a/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml +++ b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_drawer_storage_hair_dryer dataset_name: drawer_storage_hair_dryer -dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - push - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: abnormal objects: - object_name: drawer level1: container @@ -30,41 +30,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_drawer_storage_hair_dryer -video_url: ./assets/videos/R1_Lite_drawer_storage_hair_dryer.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_drawer_storage_hair_dryer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-206825 dataset_size: 9.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 145 total_frames: 206825 @@ -73,254 +41,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:144 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Put the hair dryer into the drawer, then take it out of the drawer and place - it in its original place. +dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - abnormal - Put it into the drawer @@ -338,117 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -467,349 +134,3 @@ structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 421 - dataset_name: drawer_storage_hair_dryer - dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/use_the_drawer_to_store_the_hair_dryer/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_drawer_storage_hair_dryer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: drawer_storage_hair_dryer - dataset_uuid: null - task_descriptions: - - put hair dryer from basin to drawer then back to basin. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - push - - pull - objects: - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: hair_dryer - level1: electrical_appliances - level2: hair_dryer - level3: null - level4: null - level5: null - - object_name: washbasin - level1: furniture - level2: washbasin - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 145 - total_frames: 206825 - total_tasks: 1 - total_videos: 435 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:144 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_fold_clothes.yaml b/dataset_info/R1_Lite_fold_clothes.yaml index dbcdc299c4d5a6266a2f28eaa887dadfc906fd3a..0fa88163c44e5d2ae9cd47cb7552246830cf53be 100644 --- a/dataset_info/R1_Lite_fold_clothes.yaml +++ b/dataset_info/R1_Lite_fold_clothes.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_fold_clothes dataset_name: fold_clothes -dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - fold - unfold -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Unford the yellow T-shirt objects: - object_name: bed level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_fold_clothes -video_url: ./assets/videos/R1_Lite_fold_clothes.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_fold_clothes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-283265 dataset_size: 17.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 111 total_frames: 283265 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:110 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fold t shirt shorts sweatshirt on bed then unfold them. +dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Unford the yellow T-shirt - Unford the blue shorts @@ -344,117 +71,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -472,347 +139,3 @@ structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 419 - dataset_name: fold_clothes - dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/fold_clothes/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_fold_clothes - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_clothes - dataset_uuid: null - task_descriptions: - - fold t shirt shorts sweatshirt on bed then unfold them. - scene_type: - - home - atomic_actions: - - grasp - - fold - - unfold - objects: - - object_name: bed - level1: furniture - level2: bed - level3: null - level4: null - level5: null - - object_name: bed_sheet - level1: fabric - level2: bed_sheet - level3: null - level4: null - level5: null - - object_name: clothes - level1: fabric - level2: clothes - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 111 - total_frames: 283265 - total_tasks: 1 - total_videos: 333 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:110 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_garbage_disposal.yaml b/dataset_info/R1_Lite_garbage_disposal.yaml index 314a9f4725480d0a2b7524244a0936ff9b52bd9e..024a4d5ba605d890f200f9a84245cfbe9c9868b2 100644 --- a/dataset_info/R1_Lite_garbage_disposal.yaml +++ b/dataset_info/R1_Lite_garbage_disposal.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_garbage_disposal dataset_name: garbage_disposal -dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the garbage objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_garbage_disposal -video_url: ./assets/videos/R1_Lite_garbage_disposal.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_garbage_disposal.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-70054 dataset_size: 3.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 81 total_frames: 70054 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:80 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up garbage from table and throw into trash can. +dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the garbage - abnromal @@ -332,117 +59,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -460,347 +127,3 @@ structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 408 - dataset_name: garbage_disposal - dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/dispose_of_garbage_in_the_trash_can/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_garbage_disposal - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: garbage_disposal - dataset_uuid: null - task_descriptions: - - pick up garbage from table and throw into trash can. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: garbage - level1: garbage - level2: garbage - level3: null - level4: null - level5: null - - object_name: trash_can - level1: container - level2: trash_can - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 81 - total_frames: 70054 - total_tasks: 1 - total_videos: 243 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:80 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_hang_clothes.yaml b/dataset_info/R1_Lite_hang_clothes.yaml index c1a5e8c1831d3760aa7f20142b7ca626ba552bc3..ae5612040968a1bbae40ac4cfb40b0f9cee1d9d8 100644 --- a/dataset_info/R1_Lite_hang_clothes.yaml +++ b/dataset_info/R1_Lite_hang_clothes.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_hang_clothes dataset_name: hang_clothes -dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the clothes rack on the clothesline with the right gripper objects: - object_name: clothesline level1: tool @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_hang_clothes -video_url: ./assets/videos/R1_Lite_hang_clothes.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_hang_clothes.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-289827 dataset_size: 22.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 109 total_frames: 289827 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:108 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: hang basket clothes on hanger then take off put back. +dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the clothes rack on the clothesline with the right gripper - Hang the clothes rack on the clothesline with the right gripper @@ -348,117 +75,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -476,353 +143,3 @@ structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 403 - dataset_name: hang_clothes - dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/hang_clothes/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_hang_clothes - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 110 - yaml: - dataset_name: hang_clothes - dataset_uuid: null - task_descriptions: - - hang basket clothes on hanger then take off put back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: clothesline - level1: tool - level2: clothesline - level3: null - level4: null - level5: null - - object_name: clothes_hanger - level1: daily_necessities - level2: clothes_hanger - level3: null - level4: null - level5: null - - object_name: clothes - level1: fabric - level2: clothes - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 109 - total_frames: 289827 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:108 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_make_a_landline_call.yaml b/dataset_info/R1_Lite_make_a_landline_call.yaml index ae77f7dc2704f655dee3c22e13f7a6a1e666feb7..3fe7b62ad14b217afad34221a9bd721bc59275a3 100644 --- a/dataset_info/R1_Lite_make_a_landline_call.yaml +++ b/dataset_info/R1_Lite_make_a_landline_call.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_make_a_landline_call dataset_name: make_a_landline_call -dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the desk phone handset objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_make_a_landline_call -video_url: ./assets/videos/R1_Lite_make_a_landline_call.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_make_a_landline_call.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-86262 dataset_size: 5.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 115 total_frames: 86262 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:114 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: lift phone handle dial number then replace to end call. +dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the desk phone handset - End the call using the dial pad @@ -326,117 +53,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -455,341 +123,3 @@ structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 425 - dataset_name: make_a_landline_call - dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/ring_the_landline/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_a_landline_call - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_a_landline_call - dataset_uuid: null - task_descriptions: - - lift phone handle dial number then replace to end call. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: furnitureixed_line_telephone - level1: communication_equipment - level2: furnitureixed_line_telephone - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 115 - total_frames: 86262 - total_tasks: 1 - total_videos: 345 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:114 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_make_breakfast.yaml b/dataset_info/R1_Lite_make_breakfast.yaml index 5f5f474bcbf73f10d7d66a1268afd0ce6a3a948e..a8bc5a3e8a22b8103cee65f5656485421fcb3227 100644 --- a/dataset_info/R1_Lite_make_breakfast.yaml +++ b/dataset_info/R1_Lite_make_breakfast.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_make_breakfast dataset_name: make_breakfast -dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Put the egg in the bowl objects: - object_name: table level1: furniture @@ -65,41 +64,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_make_breakfast -video_url: ./assets/videos/R1_Lite_make_breakfast.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_make_breakfast.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-105680 dataset_size: 6.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 45 total_frames: 105680 @@ -108,253 +75,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:44 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: bake bread arrange fruits eggs pour water from thermos. +dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the egg in the bowl - Put the bread slices in the toaster @@ -376,117 +102,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -504,384 +170,3 @@ structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 397 - dataset_name: make_breakfast - dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_breakfast/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_breakfast - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_breakfast - dataset_uuid: null - task_descriptions: - - bake bread arrange eggs pour water from thermos. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: eggs - level1: food - level2: eggs - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: hot_water_bottle - level1: electric_appliance - level2: hot_water_bottle - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: bread_machine - level1: electric_appliance - level2: bread_machine - level3: null - level4: null - level5: null - - object_name: fruit - level1: food - level2: fruir - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 45 - total_frames: 105680 - total_tasks: 1 - total_videos: 135 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:44 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_make_tea.yaml b/dataset_info/R1_Lite_make_tea.yaml index 348a18cf0bb117820164126a4d00dfeef2e8967d..d55a15c1e0b151efab1e3dff868755f685bfc094 100644 --- a/dataset_info/R1_Lite_make_tea.yaml +++ b/dataset_info/R1_Lite_make_tea.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_make_tea dataset_name: make_tea -dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the tea bag into the desktop trash can objects: - object_name: table level1: furniture @@ -47,41 +46,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_make_tea -video_url: ./assets/videos/R1_Lite_make_tea.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_make_tea.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-162473 dataset_size: 9.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 101 total_frames: 162473 @@ -90,253 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:100 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pour kettle water into cup steep tea bag then discard it. +dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the tea bag into the desktop trash can - Place the tea bag into the desktop trash can with the left gripper @@ -369,117 +95,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -497,368 +163,3 @@ structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 413 - dataset_name: make_tea - dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_tea/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_tea - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_tea - dataset_uuid: null - task_descriptions: - - Pick up the kettle, pour water into the teacup, hand over the tea bag to the - other hand, put it in and take out the water cup, and finally throw the tea - bag into the desktop trash can. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - - object_name: tea_bag - level1: drink - level2: tea_bag - level3: null - level4: null - level5: null - - object_name: trash_bin - level1: container - level2: trash_bin - level3: null - level4: null - level5: null - - object_name: kettle - level1: electric_appliance - level2: kettle - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 101 - total_frames: 162473 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:100 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_make_the_bed.yaml b/dataset_info/R1_Lite_make_the_bed.yaml index 62ecbba7a660210ead7cf648473f1daef1f53d48..57ac4a4659c64f8c685060c257ee85dd0174bc27 100644 --- a/dataset_info/R1_Lite_make_the_bed.yaml +++ b/dataset_info/R1_Lite_make_the_bed.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_make_the_bed dataset_name: make_the_bed -dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Hold the folded corner of the quilt objects: - object_name: quilt level1: clothing @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_make_the_bed -video_url: ./assets/videos/R1_Lite_make_the_bed.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_make_the_bed.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-240837 dataset_size: 6.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 240837 @@ -66,253 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: hold quilt's folded corner flatten blanket's corners. +dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hold the folded corner of the quilt - End @@ -327,117 +54,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -455,342 +122,3 @@ structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 400 - dataset_name: make_the_bed - dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_the_bed/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_the_bed - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: make_the_bed - dataset_uuid: null - task_descriptions: - - Grasp the corner of the quilt and flatten the quilt. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - objects: - - object_name: quilt - level1: clothing - level2: quilt - level3: null - level4: null - level5: null - - object_name: bed - level1: furniture - level2: bed - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 240837 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml index b93c432c23575fbba70fd25f855631a3e3ed9e9a..9c3d7355e1f2aa33b7e4125fb447d2097ac5ac8a 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_apple dataset_name: move_the_position_of_the_apple -dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -274,41 +274,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_apple -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_apple.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_apple.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-5959 dataset_size: 223.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 35 total_frames: 5959 @@ -317,276 +285,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:34 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the apple in the designated position. +dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the apple on the table with left gripper @@ -604,143 +308,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -762,616 +384,3 @@ structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 29 - dataset_name: move_the_position_of_the_apple - dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_apple/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_apple - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_apple - dataset_uuid: null - task_descriptions: - - put the apple in the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: apple - level1: fruit - level2: apple - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 35 - total_frames: 5959 - total_tasks: 1 - total_videos: 140 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:34 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml index 908ee890bee7e8a3bdd286f0473c5ab33223640f..0737fef2bab612291d9868683b08a79adfddc8e5 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_black_marker dataset_name: move_the_position_of_the_black_marker -dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the Marker pen with left gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_black_marker -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_black_marker.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_black_marker.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-15618 dataset_size: 536.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 61 total_frames: 15618 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:60 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the black marker in the designated position. +dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the Marker pen with left gripper - Grasp the Marker pen with right gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 19 - dataset_name: move_the_position_of_the_black_marker - dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_black_marker/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_black_marker - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_black_marker - dataset_uuid: null - task_descriptions: - - put the black marker in the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 61 - total_frames: 15618 - total_tasks: 1 - total_videos: 244 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:60 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml index ccbd9d7048fdb7826f2a3fdeb7b039c0211d760a..ff7b8e22a0d337d0952b1eed71778ce578b81a6b 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_brush dataset_name: move_the_position_of_the_brush -dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Static objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_brush -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_brush.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_brush.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-17774 dataset_size: 677.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 63 total_frames: 17774 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:62 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the brush in the designated position. +dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Static - Place the brush on the table with right gripper @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 27 - dataset_name: move_the_position_of_the_brush - dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_brush/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_brush - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_brush - dataset_uuid: null - task_descriptions: - - put the brush in the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 63 - total_frames: 17774 - total_tasks: 1 - total_videos: 252 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:62 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml index ce83b1b2cb22d36470c16b8f52977d33677b75e2..64c4c8d6e7455e841efb41d24b47f7c1a0c517d8 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_coffee_capsule dataset_name: move_the_position_of_the_coffee_capsule -dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_coffee_capsule -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_coffee_capsule.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_coffee_capsule.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-14334 dataset_size: 500.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 58 total_frames: 14334 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:57 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the coffee capsulein the designated position. +dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the coffee capsule with left gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 18 - dataset_name: move_the_position_of_the_coffee_capsule - dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_coffee_capsule/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_coffee_capsule - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_coffee_capsule - dataset_uuid: null - task_descriptions: - - put the coffee capsulein the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 58 - total_frames: 14334 - total_tasks: 1 - total_videos: 232 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:57 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml index 6e607111dcb6391ab3d895033e6dc290f49893f0..560fff3cbc2e7c319ee2a2e21b1260eb7ec95b8d 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_cookie dataset_name: move_the_position_of_the_cookie -dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the cookie on the table with right gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_cookie -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_cookie.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_cookie.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-5045 dataset_size: 198.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 25 total_frames: 5045 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:24 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the cookie the designated position. +dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cookie on the table with right gripper - Static @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 33 - dataset_name: move_the_position_of_the_cookie - dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_cookie/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_cookie - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_cookie - dataset_uuid: null - task_descriptions: - - put the cookie the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 25 - total_frames: 5045 - total_tasks: 1 - total_videos: 100 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:24 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml index 9d053f903b6673d768ce19984157ed338a231006..4607fdf85f284db507b72627623d76f783d6c633 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_duck dataset_name: move_the_position_of_the_duck -dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the red duck with right gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_duck -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_duck.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_duck.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12223 dataset_size: 348.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 40 total_frames: 12223 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:39 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the duck the designated position. +dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the red duck with right gripper - Static @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 30 - dataset_name: move_the_position_of_the_duck - dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_red_duck/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_duck - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_duck - dataset_uuid: null - task_descriptions: - - put the duck the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 40 - total_frames: 12223 - total_tasks: 1 - total_videos: 160 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:39 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml index 0b4e7eed013f4cc843d601908a430346edf671e2..e45158a31d5058ca74ad6647eb61e6fab8524456 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_glass dataset_name: move_the_position_of_the_glass -dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the glasses case with left gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_glass -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_glass.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_glass.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12480 dataset_size: 423.9MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 36 total_frames: 12480 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:35 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the glass the designated position. +dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the glasses case with left gripper - Abnormal @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 31 - dataset_name: move_the_position_of_the_glass - dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_glasses/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_glass - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_glasses_case - dataset_uuid: null - task_descriptions: - - put the glasses case the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: furniture - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 36 - total_frames: 12480 - total_tasks: 1 - total_videos: 144 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:35 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml index f515fb16e28746f74fe02ca0afcb8a69813ecb32..203fd67b68229d7ade6f4f1d1d154b71a09736b2 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_long_bread dataset_name: move_the_position_of_the_long_bread -dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the long bread with right gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_long_bread -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_long_bread.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_long_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9249 dataset_size: 344.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 31 total_frames: 9249 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:30 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the long bread the designated position. +dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the long bread with right gripper - Grasp the long bread with left gripper @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 28 - dataset_name: move_the_position_of_the_long_bread - dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_long_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_long_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_long_bread - dataset_uuid: null - task_descriptions: - - put the long bread the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 31 - total_frames: 9249 - total_tasks: 1 - total_videos: 124 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:30 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml index bb27378c5ce2e69520f284d5c8e4d4b750a75a12..b6be5f6ac57eecab0b77ffdde1ab6aa565d8b576 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_milk dataset_name: move_the_position_of_the_milk -dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the wangzai milk with left gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_milk -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_milk.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_milk.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-12898 dataset_size: 421.8MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 59 total_frames: 12898 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:58 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the milk the designated position. +dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the wangzai milk with left gripper - Place the wangzai milk on the table with right gripper @@ -598,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -756,610 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 24 - dataset_name: move_the_position_of_the_milk - dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_milk/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_milk - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_milk - dataset_uuid: null - task_descriptions: - - put the milk the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 59 - total_frames: 12898 - total_tasks: 1 - total_videos: 236 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:58 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml index 1df1dc9876d00c69d8089df8f47850a27c243d12..1764d2b59bcf5463eb5c9e9306a1364a052ef35a 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_orange dataset_name: move_the_position_of_the_orange -dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_orange -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_orange.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_orange.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-15074 dataset_size: 550.2MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 42 total_frames: 15074 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:41 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the orange the designated position. +dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the orange on the table with right gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 25 - dataset_name: move_the_position_of_the_orange - dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_orange/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_orange - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_orange - dataset_uuid: null - task_descriptions: - - put the orange the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 42 - total_frames: 15074 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:41 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml index 1bb2f4cec169240e8ecd6cd6a831ac65de3fa016..0a07f80590e5f983f418bb49c91bb46d63483020 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_peeler dataset_name: move_the_position_of_the_peeler -dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the peeler with right gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_peeler -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_peeler.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_peeler.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-10477 dataset_size: 369.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 43 total_frames: 10477 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:42 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the peeler the designated position. +dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the peeler with right gripper - Static @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 26 - dataset_name: move_the_position_of_the_peeler - dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_peeler/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_peeler - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_peeler - dataset_uuid: null - task_descriptions: - - put the peeler the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 43 - total_frames: 10477 - total_tasks: 1 - total_videos: 172 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:42 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml index 638d87b5984e00350838b65c3d0dc00509465238..e192f4823a87535fca8c4835bc5735a710640de9 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_move_the_position_of_the_pen dataset_name: move_the_position_of_the_pen -dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 -scene_type: -- office -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -269,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_pen -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_pen.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_pen.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-11495 dataset_size: 362.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 31 total_frames: 11495 @@ -312,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:30 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the pen in the designated position. +dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the sign pen on the table with right gripper @@ -599,143 +302,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -757,611 +378,3 @@ structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 32 - dataset_name: move_the_position_of_the_pen - dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_pen/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_pen - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_pen - dataset_uuid: null - task_descriptions: - - put the pen in the designated position. - scene_type: - - office - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 31 - total_frames: 11495 - total_tasks: 1 - total_videos: 124 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:30 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml index 097deccb6d21b689d02d501306741195b1120a1d..cd65f176f9c946703b53ca3ce1eae2de58bad752 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_rubiks_cube dataset_name: move_the_position_of_the_rubiks_cube -dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_rubiks_cube -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_rubiks_cube.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_rubiks_cube.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-9055 dataset_size: 328.4MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 44 total_frames: 9055 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:43 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the rubiks cube the designated position. +dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the magic cube on the table with right gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 23 - dataset_name: move_the_position_of_the_rubiks_cube - dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_rubiks_cube/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_rubiks_cube - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_rubiks_cube - dataset_uuid: null - task_descriptions: - - put the rubiks cube the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 44 - total_frames: 9055 - total_tasks: 1 - total_videos: 176 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:43 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml index 372985b74c0c429770db2028ebeaad6ae550fdf4..2f9df4d0f6c62c4c2f75c7d24b455f12b5819085 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_soda dataset_name: move_the_position_of_the_soda -dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_soda -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_soda.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_soda.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-17198 dataset_size: 661.0MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 62 total_frames: 17198 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:61 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the soda the designated position. +dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the soda water with right gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 20 - dataset_name: move_the_position_of_the_soda - dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_soda/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_soda - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_soda - dataset_uuid: null - task_descriptions: - - put the soda the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 62 - total_frames: 17198 - total_tasks: 1 - total_videos: 248 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:61 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml index af5e7089d8d4381c0ae26dd8452e59f434eca3c0..9160231c2698f43707da44339f8c3588aa0949d8 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_spoon dataset_name: move_the_position_of_the_spoon -dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the spoon with right gripper objects: - object_name: table level1: furniture @@ -268,41 +268,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_spoon -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_spoon.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_spoon.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-6550 dataset_size: 212.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 23 total_frames: 6550 @@ -311,276 +279,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:22 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the spoon the designated position. +dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the spoon with right gripper - Grasp the spoon with left gripper @@ -597,143 +301,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -755,610 +377,3 @@ structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 22 - dataset_name: move_the_position_of_the_spoon - dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_spoon/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_spoon - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_spoon - dataset_uuid: null - task_descriptions: - - put the spoon the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 23 - total_frames: 6550 - total_tasks: 1 - total_videos: 92 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:22 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml index 46b8a0ccd85a3d0cb27ea9626bd1afce8e83f6c3..230203031b93bd8480fe6013be9af1ed4f196787 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_move_the_position_of_the_triangle_bread dataset_name: move_the_position_of_the_triangle_bread -dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the pizza with right gripper objects: - object_name: table level1: furniture @@ -280,41 +280,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_move_the_position_of_the_triangle_bread -video_url: ./assets/videos/R1_Lite_move_the_position_of_the_triangle_bread.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_triangle_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: 77.2 +frame_range: 0-8540 dataset_size: 300.1MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 40 total_frames: 8540 @@ -323,276 +291,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:39 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put the triangle bread the designated position. +dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the pizza with right gripper - Static @@ -609,143 +313,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -767,622 +389,3 @@ structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 21 - dataset_name: move_the_position_of_the_triangle_bread - dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_triangle_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_triangle_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: move_the_position_of_the_waffle - dataset_uuid: null - task_descriptions: - - put the waffle the designated position. - scene_type: - - home - atomic_actions: - - place - - pick - - grasp - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: waffle - level1: food - level2: waffle - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: bath_ball - level1: daily_necessities - level2: bath_ball - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: can - level1: container - level2: can - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: hard_cleanser - level1: daily_necessities - level2: hard_cleanser - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: peeler - level1: tool - level2: peeler - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: duck - level1: toy - level2: duck - level3: null - level4: null - level5: null - - object_name: soap - level1: daily_necessities - level2: soap - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cola - level1: drink - level2: cola - level3: null - level4: null - level5: null - - object_name: detergent - level1: daily_necessities - level2: detergent - level3: null - level4: null - level5: null - - object_name: egg_beater - level1: electrical_appliances - level2: egg_beater - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: marker - level1: office_supplies - level2: marker - level3: null - level4: null - level5: null - - object_name: rubiks_cube - level1: toy - level2: rubiks_cube - level3: null - level4: null - level5: null - - object_name: bread_slice - level1: food - level2: bread_slice - level3: null - level4: null - level5: null - - object_name: brush - level1: daily_necessities - level2: brush - level3: null - level4: null - level5: null - - object_name: yogurt - level1: drink - level2: yogurt - level3: null - level4: null - level5: null - - object_name: power_strip - level1: electric_appliance - level2: power_strip - level3: null - level4: null - level5: null - - object_name: milk - level1: drink - level2: milk - level3: null - level4: null - level5: null - - object_name: soda - level1: drink - level2: soda - level3: null - level4: null - level5: null - - object_name: lime - level1: fruit - level2: lime - level3: null - level4: null - level5: null - - object_name: coffee_capsule - level1: drink - level2: coffee_capsule - level3: null - level4: null - level5: null - - object_name: dish - level1: container - level2: dish - level3: null - level4: null - level5: null - - object_name: glass - level1: furniture - level2: glass - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: gum - level1: daily_necessities - level2: gum - level3: null - level4: null - level5: null - - object_name: tape - level1: daily_necessities - level2: tape - level3: null - level4: null - level5: null - - object_name: soft_cleanser - level1: daily_necessities - level2: soft_cleanser - level3: null - level4: null - level5: null - - object_name: chips - level1: food - level2: chips - level3: null - level4: null - level5: null - - object_name: chocolate - level1: food - level2: chocolate - level3: null - level4: null - level5: null - - object_name: cookie - level1: food - level2: cookie - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: triangle_bread - level1: food - level2: triangle_bread - level3: null - level4: null - level5: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 40 - total_frames: 8540 - total_tasks: 1 - total_videos: 160 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:39 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_curtains.yaml b/dataset_info/R1_Lite_open_and_close_curtains.yaml index bf5848d194339a890a867c73adc37eaed82caf2b..bb8cdd9778ca3491c58d2ce44b4bcf18fabfa3f6 100644 --- a/dataset_info/R1_Lite_open_and_close_curtains.yaml +++ b/dataset_info/R1_Lite_open_and_close_curtains.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_open_and_close_curtains dataset_name: open_and_close_curtains -dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pull the outeouter curtains open on both sides with the both gripper objects: - object_name: curtains level1: clothing @@ -16,41 +16,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_and_close_curtains -video_url: ./assets/videos/R1_Lite_open_and_close_curtains.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_curtains.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-226694 dataset_size: 8.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 98 total_frames: 226694 @@ -59,253 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:97 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: open close inner and outer curtains on both sides. +dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pull the outeouter curtains open on both sides with the both gripper - Pull the outer curtains open on both sides @@ -328,117 +55,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -457,335 +125,3 @@ structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 433 - dataset_name: open_and_close_curtains - dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_curtains/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_curtains - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: open_and_close_curtains - dataset_uuid: null - task_descriptions: - - open close inner and outer curtains on both sides. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: curtains - level1: clothing - level2: curtains - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 98 - total_frames: 226694 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:97 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml index 3e2ccf67ed9cce1e468d377d45370842d2e4f4e4..c9467ae79196f6a02c7e63298a7cc56e09017470 100644 --- a/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml +++ b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml @@ -1,8 +1,9 @@ +path: R1_Lite_open_and_close_microwave_oven dataset_name: open_and_close_microwave_oven -dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick @@ -10,9 +11,7 @@ atomic_actions: - push - pull - pressbutton -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Put the microwave back in its original place objects: - object_name: french_fries level1: food @@ -32,41 +31,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_and_close_microwave_oven -video_url: ./assets/videos/R1_Lite_open_and_close_microwave_oven.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_microwave_oven.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-183612 dataset_size: 7.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 117 total_frames: 183612 @@ -75,253 +42,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:116 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put fries plate in microwave turn on then take out and close. +dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the microwave back in its original place - Take the plate out of the microwave @@ -337,117 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -466,352 +133,3 @@ structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 396 - dataset_name: open_and_close_microwave_oven - dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_microwave_oven/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_microwave_oven - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: heating food - dataset_uuid: null - task_descriptions: - - turn on the microwave, put the fries in, turn off the microwave, turn on the - microwave, take out the fries, and turn off the microwave. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - - push - - pull - - pressbutton - objects: - - object_name: french_fries - level1: food - level2: french_fries - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: microwave - level1: electric_appliance - level2: microwave - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 117 - total_frames: 183612 - total_tasks: 1 - total_videos: 351 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:116 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml index c4916f32b9e18d377dd5ecf19081f8e4e199f6fe..fb230050bc7f471059ca9e82b1da9a175e7f12b2 100644 --- a/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml +++ b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_open_and_close_nightstand_door dataset_name: open_and_close_nightstand_door -dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the green doll on the lower shelf objects: - object_name: nightstand level1: furniture @@ -53,41 +53,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_and_close_nightstand_door -video_url: ./assets/videos/R1_Lite_open_and_close_nightstand_door.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_nightstand_door.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-274445 dataset_size: 11.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 274445 @@ -96,253 +64,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put items on nightstand lower then higher shelf and close. +dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the green doll on the lower shelf - Close the nightstand door @@ -369,117 +96,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -498,373 +166,3 @@ structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 402 - dataset_name: open_and_close_nightstand_door - dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_nightstand_door/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_nightstand_door - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_dolls - dataset_uuid: null - task_descriptions: - - open the cabinet door and place the doll from the top to the bottom, then from - the bottom to the top. close the cabinet door. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - push - objects: - - object_name: nightstand - level1: furniture - level2: nightstand - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: pillow - level1: clothing - level2: pillow - level3: null - level4: null - level5: null - - object_name: bag - level1: container - level2: bag - level3: null - level4: null - level5: null - - object_name: blue_doll - level1: toy - level2: blue_doll - level3: null - level4: null - level5: null - - object_name: green_doll - level1: toy - level2: green_doll - level3: null - level4: null - level5: null - - object_name: pink_doll - level1: toy - level2: pink_doll - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 274445 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml index 52a868defc9162756c5de61006edb3deee709b7d..183f7fdff0d72ef254855893a4f29fd1f7f0cdc0 100644 --- a/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml +++ b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_open_and_close_nightstand_drawer dataset_name: open_and_close_nightstand_drawer -dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Open the nightstand drawer objects: - object_name: nightstand level1: furniture @@ -29,41 +29,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_and_close_nightstand_drawer -video_url: ./assets/videos/R1_Lite_open_and_close_nightstand_drawer.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_nightstand_drawer.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-104258 dataset_size: 7.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 77 total_frames: 104258 @@ -72,253 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:76 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put remote tissue in drawer then take out and close. +dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Open the nightstand drawer - Put the remote controls on the table in the drawer one by one @@ -335,117 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -464,348 +132,3 @@ structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── a \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 417 - dataset_name: open_and_close_nightstand_drawer - dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_nightstand_drawer/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_nightstand_drawer - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: open_and_close_nightstand_drawer - dataset_uuid: null - task_descriptions: - - open the drawer and put tissues in and out, then close the drawer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - push - objects: - - object_name: nightstand - level1: furniture - level2: nightstand - level3: null - level4: null - level5: null - - object_name: remote_control - level1: electric_appliance - level2: remote_control - level3: null - level4: null - level5: null - - object_name: tissue - level1: daily_necessities - level2: tissue - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 77 - total_frames: 104258 - total_tasks: 1 - total_videos: 231 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:76 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml index cff99538b9fe3546ef86997f67ffead8cf3de77e..9bc816e5c7147c9a0170d7cd60fc47e04ab060ed 100644 --- a/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml +++ b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml @@ -1,15 +1,15 @@ +path: R1_Lite_open_and_close_the_freezer_door dataset_name: open_and_close_the_freezer_door -dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - open -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Abnormal objects: - object_name: freezer level1: furniture @@ -41,41 +41,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_and_close_the_freezer_door -video_url: ./assets/videos/R1_Lite_open_and_close_the_freezer_door.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_the_freezer_door.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-170369 dataset_size: 6.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 93 total_frames: 170369 @@ -84,253 +52,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:92 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put yogurt cups in freezer then take out and close. +dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - End @@ -359,117 +86,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -488,361 +156,3 @@ structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 395 - dataset_name: open_and_close_the_freezer_door - dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_the_freezer_door/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_the_freezer_door - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: putting_in_and_taking_out_items - dataset_uuid: null - task_descriptions: - - open the refrigerator door and put the yogurt cup into the refrigerator. close - the refrigerator door and take out the yogurt cup. close the refrigerator door. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - objects: - - object_name: freezer - level1: furniture - level2: freezer - level3: null - level4: null - level5: null - - object_name: ceramic_cup - level1: container - level2: ceramic_cup - level3: null - level4: null - level5: null - - object_name: yogurt - level1: food - level2: yogurt - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: paper_cup - level1: container - level2: paper_cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 93 - total_frames: 170369 - total_tasks: 1 - total_videos: 279 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:92 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_open_the_food_pan.yaml b/dataset_info/R1_Lite_open_the_food_pan.yaml index 7af0258ec8ed8c685215f173f805badb5555239b..29a333a8e2b5220616e860e2b18a2e5e67336733 100644 --- a/dataset_info/R1_Lite_open_the_food_pan.yaml +++ b/dataset_info/R1_Lite_open_the_food_pan.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_open_the_food_pan dataset_name: open_the_food_pan -dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Hold the pot lid with the right arm objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_open_the_food_pan -video_url: ./assets/videos/R1_Lite_open_the_food_pan.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_open_the_food_pan.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-74981 dataset_size: 2.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 94 total_frames: 74981 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:93 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: fully open pot lid on table then close it. +dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hold the pot lid with the right arm - Close the pot lid @@ -328,117 +55,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -456,341 +124,3 @@ structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 380 - dataset_name: open_the_food_pan - dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/turn_on_the_food_pot/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_the_food_pan - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: open_the_food_pan - dataset_uuid: null - task_descriptions: - - fully open pot lid on table then close it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pan - level1: container - level2: pan - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 94 - total_frames: 74981 - total_tasks: 1 - total_videos: 282 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:93 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml index 1db5375460c81aee05524e63c13ba1b157f5f792..3a9d9fb9dcd873eda5b7c7f6cb690f92b63425ea 100644 --- a/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml +++ b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_opening_and_closing_aalcony_sliding_doors dataset_name: opening_and_closing_aalcony_sliding_doors -dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - push - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Close the slid door objects: - object_name: sliding_door level1: furniture @@ -16,41 +16,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_opening_and_closing_aalcony_sliding_doors -video_url: ./assets/videos/R1_Lite_opening_and_closing_aalcony_sliding_doors.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_opening_and_closing_aalcony_sliding_doors.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-133637 dataset_size: 6.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 101 total_frames: 133637 @@ -59,253 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:100 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: close balcony sliding door then open it. +dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Close the slid door - Open the slid door @@ -318,117 +45,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -447,335 +115,3 @@ structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 418 - dataset_name: opening_and_closing_aalcony_sliding_doors - dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/opening_and_closing_aalcony_sliding_doors/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_opening_and_closing_aalcony_sliding_doors - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: opening_and_closing_sliding_doors - dataset_uuid: null - task_descriptions: - - close balcony sliding door then open it. - scene_type: - - home - atomic_actions: - - grasp - - push - - pull - objects: - - object_name: sliding_door - level1: furniture - level2: sliding_door - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 101 - total_frames: 133637 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:100 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_peach_storage.yaml b/dataset_info/R1_Lite_peach_storage.yaml index 734d34758be16e0f9ed770c3beaba2f13739238a..d9294341bc147c795112330d6b2fbe1366f34e3a 100644 --- a/dataset_info/R1_Lite_peach_storage.yaml +++ b/dataset_info/R1_Lite_peach_storage.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_peach_storage dataset_name: peach_storage -dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 -scene_type: -- kitchen -- living_room +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_peach_storage -video_url: ./assets/videos/R1_Lite_peach_storage.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_peach_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-31755 dataset_size: 1.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 110 total_frames: 31755 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:109 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: place the basket in the center of the table and align it, then put the peaches - into the basket. +dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the light basket on the middle of the table with the left gripper @@ -359,143 +61,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -516,372 +135,3 @@ structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 16 - dataset_name: peach_storage - dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/basket_peach/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_peach_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: peach_storage - dataset_uuid: null - task_descriptions: - - place the basket in the center of the table and align it, then put the peaches - into the basket. - scene_type: - - kitchen - - living_room - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 110 - total_frames: 31755 - total_tasks: 1 - total_videos: 440 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:109 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_pick_up_and_store_items.yaml b/dataset_info/R1_Lite_pick_up_and_store_items.yaml index d59c599cb8238c5e9c3343f1c1a116046ff6d83f..d814d5fec299032241793806ed8d55b9727d8ca8 100644 --- a/dataset_info/R1_Lite_pick_up_and_store_items.yaml +++ b/dataset_info/R1_Lite_pick_up_and_store_items.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_pick_up_and_store_items dataset_name: pick_up_and_store_items -dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the tissue on the table objects: - object_name: drawer level1: container @@ -66,41 +66,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_pick_up_and_store_items -video_url: ./assets/videos/R1_Lite_pick_up_and_store_items.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_pick_up_and_store_items.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-125588 dataset_size: 5.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 108 total_frames: 125588 @@ -109,253 +77,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:107 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Open the drawer, then close the drawer. +dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the tissue on the table - Place the disposable slippers on the table @@ -406,117 +133,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -535,385 +203,3 @@ structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 384 - dataset_name: pick_up_and_store_items - dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/bedside_console_with_switch_panel/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_pick_up_and_store_items - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pick_up_and_store_items - dataset_uuid: null - task_descriptions: - - store table items in drawer then place them out close drawer. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - - push - objects: - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: tissue_paper - level1: daily_necessities - level2: tissue_paper - level3: null - level4: null - level5: null - - object_name: disposable_slippers - level1: daily_necessities - level2: disposable_slippers - level3: null - level4: null - level5: null - - object_name: tape - level1: tool - level2: tape - level3: null - level4: null - level5: null - - object_name: solid_beverage - level1: beverage - level2: solid_beverage - level3: null - level4: null - level5: null - - object_name: shorts - level1: clothing - level2: shorts - level3: null - level4: null - level5: null - - object_name: roll_paper - level1: daily_necessities - level2: roll_paper - level3: null - level4: null - level5: null - - object_name: t_shirt - level1: cloth - level2: t_shirt - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: drink - level2: mineral_water - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 108 - total_frames: 125588 - total_tasks: 1 - total_videos: 324 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:107 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml index 0ba4747be5f3dd85e968d8005817cfc4541f6738..78fd7800eb8a8970d7029f35840f84b8b3aeefc6 100644 --- a/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml +++ b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_place_the_dress_shirt_on_the_hanger dataset_name: place_the_dress_shirt_on_the_hanger -dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: abnormal objects: - object_name: hanger level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_place_the_dress_shirt_on_the_hanger -video_url: ./assets/videos/R1_Lite_place_the_dress_shirt_on_the_hanger.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_place_the_dress_shirt_on_the_hanger.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-120516 dataset_size: 7.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 103 total_frames: 120516 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:102 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: hang shirt on hanger then take hanger out and put on bed. +dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - abnormal - Hook the other side of the shirt onto the hanger @@ -340,117 +67,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -469,353 +137,3 @@ structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 392 - dataset_name: place_the_dress_shirt_on_the_hanger - dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/place_the_dress_shirt_on_the_hanger/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_place_the_dress_shirt_on_the_hanger - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: hang_up_and_put_down_your_clothes - dataset_uuid: null - task_descriptions: - - hang shirt on hanger then take hanger out and put on bed. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: hanger - level1: furniture - level2: hanger - level3: null - level4: null - level5: null - - object_name: shirt - level1: clothing - level2: shirt - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: bed - level1: furniture - level2: bed - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 103 - total_frames: 120516 - total_tasks: 1 - total_videos: 309 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:102 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_plug_the_socket.yaml b/dataset_info/R1_Lite_plug_the_socket.yaml index 14f4f563a9afbb848e1f81968e0ed25c4c8cdb53..86ed4a61c5ec71a803ce6d4933b1a3ef7316ff19 100644 --- a/dataset_info/R1_Lite_plug_the_socket.yaml +++ b/dataset_info/R1_Lite_plug_the_socket.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_plug_the_socket dataset_name: plug_the_socket -dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Hold the socket with your right hand and unplug it with your left hand objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_plug_the_socket -video_url: ./assets/videos/R1_Lite_plug_the_socket.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_plug_the_socket.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-115158 dataset_size: 5.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 96 total_frames: 115158 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:95 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: plug in mosquito repellent then unplug and place on table. +dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hold the socket with your right hand and unplug it with your left hand - abnormal @@ -340,117 +67,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -468,353 +135,3 @@ structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 394 - dataset_name: plug_the_socket - dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/plug_the_socket/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_plug_the_socket - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: Plug in and unplug the socket - dataset_uuid: null - task_descriptions: - - plug in mosquito repellent then unplug and place on table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mosquito_repellent_liquid - level1: daily_necessities - level2: mosquito_repellent_liquid - level3: null - level4: null - level5: null - - object_name: plug - level1: electric_appliance - level2: plug - level3: null - level4: null - level5: null - - object_name: socket - level1: electric_appliance - level2: socket - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 96 - total_frames: 115158 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:95 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_pour_water.yaml b/dataset_info/R1_Lite_pour_water.yaml index aae6f041c9dba0bd903d4942001241efe9f656ee..0ba5838f71ab53877e4a7a808939830a5e60256b 100644 --- a/dataset_info/R1_Lite_pour_water.yaml +++ b/dataset_info/R1_Lite_pour_water.yaml @@ -1,15 +1,14 @@ +path: R1_Lite_pour_water dataset_name: pour_water -dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pour water into the cup objects: - object_name: table level1: furniture @@ -35,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_pour_water -video_url: ./assets/videos/R1_Lite_pour_water.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_pour_water.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-53125 dataset_size: 2.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 51 total_frames: 53125 @@ -78,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:50 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pour water into two cups then put kettle down on table. +dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pour water into the cup - Put the cup down on the table @@ -341,117 +67,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -469,354 +135,3 @@ structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 423 - dataset_name: pour_water - dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/pour_water/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_pour_water - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_water - dataset_uuid: null - task_descriptions: - - pour water into two cups then put kettle down on table. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - - object_name: kettle - level1: electric_appliance - level2: kettle - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 51 - total_frames: 53125 - total_tasks: 1 - total_videos: 153 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:50 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml index 5304186f232bd4541aa6cbffc07dc06c935eb84a..ebc03e3e59784b4394e20ffb50ec30af2a08f6b8 100644 --- a/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml +++ b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_put_on_a_garbage_bag dataset_name: put_on_a_garbage_bag -dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Abnormal objects: - object_name: trash_bag level1: container @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_put_on_a_garbage_bag -video_url: ./assets/videos/R1_Lite_put_on_a_garbage_bag.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_put_on_a_garbage_bag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-252689 dataset_size: 11.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 133 total_frames: 252689 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:132 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put new trash bag on can then place ring on it. +dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Abnormal - End @@ -341,117 +68,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -470,347 +138,3 @@ structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 422 - dataset_name: put_on_a_garbage_bag - dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_a_bag_in_the_trash_can/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_on_a_garbage_bag - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_on_a_garbage_bag - dataset_uuid: null - task_descriptions: - - replace the garbage bag on can then place ring on it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: trash_bag - level1: container - level2: trash_bag - level3: null - level4: null - level5: null - - object_name: trash_can - level1: container - level2: trash_can - level3: null - level4: null - level5: null - - object_name: trash_can_ring - level1: daily_necessities - level2: trash_can_ring - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 133 - total_frames: 252689 - total_tasks: 1 - total_videos: 399 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:132 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml index a6287f43c0d1fd4822bf2449bdf2e627711d6ede..72804b49b7bb8a87e3549a242b03d8449bf6d405 100644 --- a/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml +++ b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_put_slippers_into_floor_standing_shoe_cabinet dataset_name: put_slippers_into_floor_standing_shoe_cabinet -dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the slippers in the shoe cabinet objects: - object_name: shoe_cabinet level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_put_slippers_into_floor_standing_shoe_cabinet -video_url: ./assets/videos/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-183363 dataset_size: 11.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 107 total_frames: 183363 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:106 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put slippers from floor to cabinet then back to floor. +dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the slippers in the shoe cabinet - Place the slippers into the shoe cabinet @@ -332,117 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -461,347 +129,3 @@ structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 428 - dataset_name: put_slippers_into_floor_standing_shoe_cabinet - dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_slippers_into_floor_standing_shoe_cabinet/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_slippers_into_floor_standing_shoe_cabinet - dataset_uuid: null - task_descriptions: - - put slippers from floor to cabinet then back to floor. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: shoe_cabinet - level1: furniture - level2: shoe_cabinet - level3: null - level4: null - level5: null - - object_name: slippers - level1: clothing - level2: slippers - level3: null - level4: null - level5: null - - object_name: floor - level1: furniture - level2: floor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 107 - total_frames: 183363 - total_tasks: 1 - total_videos: 321 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:106 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml index 815bb4f023712a89004aeea1eb03e3616e6b5ae4..ae35dc746c5c2db1ad9cb69567def57c0679d3fe 100644 --- a/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml +++ b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_put_the_pillow_on_the_bed dataset_name: put_the_pillow_on_the_bed -dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the pillow objects: - object_name: pillow level1: daily_necessities @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_put_the_pillow_on_the_bed -video_url: ./assets/videos/R1_Lite_put_the_pillow_on_the_bed.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_pillow_on_the_bed.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-53484 dataset_size: 1.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 48 total_frames: 53484 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:47 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: move pillow from bedside to head then foot of bed. +dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the pillow - Place the pillow at the end of the bed @@ -327,117 +54,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -456,341 +124,3 @@ structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 390 - dataset_name: put_the_pillow_on_the_bed - dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_pillow_on_the_bed/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_pillow_on_the_bed - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_the_pillow_on_the_bed - dataset_uuid: null - task_descriptions: - - move pillow from bedside to head then foot of bed. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: pillow - level1: daily_necessities - level2: pillow - level3: null - level4: null - level5: null - - object_name: bed - level1: furniture - level2: bed - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 48 - total_frames: 53484 - total_tasks: 1 - total_videos: 144 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:47 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml index a300612fef03cfa27845302bc3f0433be81d3d78..99c30f9c385334966341e1bbf10f76c4c53668ea 100644 --- a/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml +++ b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_put_the_shoes_into_the_shoe_box dataset_name: put_the_shoes_into_the_shoe_box -dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Put the shoes out of the shoe box objects: - object_name: shoes level1: clothing @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_put_the_shoes_into_the_shoe_box -video_url: ./assets/videos/R1_Lite_put_the_shoes_into_the_shoe_box.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_shoes_into_the_shoe_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-87219 dataset_size: 3.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 106 total_frames: 87219 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:105 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take shoes out of box then put back in and close. +dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the shoes out of the shoe box - abnormal @@ -327,117 +54,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -456,341 +124,3 @@ structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── an \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 388 - dataset_name: put_the_shoes_into_the_shoe_box - dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_shoes_into_the_shoe_box/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_shoes_into_the_shoe_box - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_out_the_shoe_storage_box - dataset_uuid: null - task_descriptions: - - take shoes out of box then put back in and close. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: shoes - level1: clothing - level2: shoes - level3: null - level4: null - level5: null - - object_name: shoe_box - level1: container - level2: shoe_box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 106 - total_frames: 87219 - total_tasks: 1 - total_videos: 318 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:105 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml index 8a79a7df0c3a7e956e32edaa7998122ed2a52e81..12f354898c59189449a6c4d50d54b6c967c2cf56 100644 --- a/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml +++ b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_put_the_tableware_into_the_cupboard dataset_name: put_the_tableware_into_the_cupboard -dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the fork in the cutlery box objects: - object_name: cabinet level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_put_the_tableware_into_the_cupboard -video_url: ./assets/videos/R1_Lite_put_the_tableware_into_the_cupboard.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_tableware_into_the_cupboard.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-367607 dataset_size: 15.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 143 total_frames: 367607 @@ -89,253 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:142 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put tableware in cabinet then back to counter and close. +dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the fork in the cutlery box - Place the spoon on the plate @@ -373,117 +100,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -502,365 +170,3 @@ structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├─ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 386 - dataset_name: put_the_tableware_into_the_cupboard - dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/store_tableware/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_tableware_into_the_cupboard - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: put_the_tableware_into_the_cupboard - dataset_uuid: null - task_descriptions: - - put tableware in cabinet then back to counter and close. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: fork - level1: tableware - level2: fork - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 143 - total_frames: 367607 - total_tasks: 1 - total_videos: 429 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:142 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_sliding_chair.yaml b/dataset_info/R1_Lite_sliding_chair.yaml index 24e66781cd1547b84f0a015bacecad76e45d1917..401661e9bc780bba906eb46f945cfdf39aa980ee 100644 --- a/dataset_info/R1_Lite_sliding_chair.yaml +++ b/dataset_info/R1_Lite_sliding_chair.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_sliding_chair dataset_name: sliding_chair -dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Push the gray chair back under the dining table objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_sliding_chair -video_url: ./assets/videos/R1_Lite_sliding_chair.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_sliding_chair.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-142290 dataset_size: 6.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 87 total_frames: 142290 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:86 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pull chair out from table then put back. +dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Push the gray chair back under the dining table - Pull the gray chair out from under the dining table @@ -326,117 +53,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -454,341 +121,3 @@ structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 427 - dataset_name: sliding_chair - dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/sliding_bar_stool/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_sliding_chair - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: sliding_chair - dataset_uuid: null - task_descriptions: - - pull chair out from table then put back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: chair - level1: furniture - level2: chair - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 87 - total_frames: 142290 - total_tasks: 1 - total_videos: 261 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:86 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_stack_baskets.yaml b/dataset_info/R1_Lite_stack_baskets.yaml index ecd07d9f151d94222097e84f125f1a4b81efc15e..5bba89a20675ac2a8d9dd1d0224d03848b63b3bc 100644 --- a/dataset_info/R1_Lite_stack_baskets.yaml +++ b/dataset_info/R1_Lite_stack_baskets.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_stack_baskets dataset_name: stack_baskets -dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the dark basket with the right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_stack_baskets -video_url: ./assets/videos/R1_Lite_stack_baskets.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_stack_baskets.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-57189 dataset_size: 4.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 101 total_frames: 57189 @@ -65,276 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:100 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: stack a basket on top of another basket. +dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the dark basket with the right gripper - End @@ -351,143 +55,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_left_rgb - name: cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_high_right_rgb - name: cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_left_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_high_right_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -508,364 +129,3 @@ structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 15 - dataset_name: stack_baskets - dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/stack_baskets/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_stack_baskets - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: stack_baskets - dataset_uuid: null - task_descriptions: - - place the basket in the center，stack a basket on top of another basket. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 101 - total_frames: 57189 - total_tasks: 1 - total_videos: 404 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:100 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_left_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_high_right_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 16 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 18 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_storage_of_toiletries.yaml b/dataset_info/R1_Lite_storage_of_toiletries.yaml index d880dc94b4e378e71781e102676b7ec3801e8665..a4fea623d495762658d56c274191d15bf25b5ad6 100644 --- a/dataset_info/R1_Lite_storage_of_toiletries.yaml +++ b/dataset_info/R1_Lite_storage_of_toiletries.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_storage_of_toiletries dataset_name: storage_of_toiletries -dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the toothpaste in the storage bag objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_storage_of_toiletries -video_url: ./assets/videos/R1_Lite_storage_of_toiletries.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_storage_of_toiletries.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-138432 dataset_size: 7.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 101 total_frames: 138432 @@ -83,253 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:100 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put comb toothpaste toothbrush in opened storage bag on table. +dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the toothpaste in the storage bag - Pick up the comb @@ -353,117 +80,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -482,359 +150,3 @@ structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 385 - dataset_name: storage_of_toiletries - dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/replace_the_toiletries/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_storage_of_toiletries - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_of_toiletries - dataset_uuid: null - task_descriptions: - - put comb toothpaste toothbrush in opened storage bag on table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: storage_bag - level1: container - level2: storage_bag - level3: null - level4: null - level5: null - - object_name: toothpaste - level1: personal_care_products - level2: toothpaste - level3: null - level4: null - level5: null - - object_name: toothbrush - level1: personal_care_products - level2: toothbrush - level3: null - level4: null - level5: null - - object_name: comb - level1: personal_care_products - level2: comb - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 101 - total_frames: 138432 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:100 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_switch_labels.yaml b/dataset_info/R1_Lite_switch_labels.yaml index b6e7d467501fb8435857945b6083cec3ba9fe7bf..02d5aa26478316a33ea20362bb951a3a016d0bd0 100644 --- a/dataset_info/R1_Lite_switch_labels.yaml +++ b/dataset_info/R1_Lite_switch_labels.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_switch_labels dataset_name: switch_labels -dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: the_door level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_switch_labels -video_url: ./assets/videos/R1_Lite_switch_labels.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_switch_labels.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-171139 dataset_size: 7.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 99 total_frames: 171139 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:98 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take label off door handle switch sign then put back. +dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - abnormal @@ -336,117 +63,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -464,347 +131,3 @@ structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 416 - dataset_name: switch_labels - dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/switch_the_sign/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_switch_labels - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: switch_labels - dataset_uuid: null - task_descriptions: - - take label off door handle switch sign then put back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: the_door - level1: furniture - level2: the_door - level3: null - level4: null - level5: null - - object_name: door_handle - level1: accessories - level2: door_handle - level3: null - level4: null - level5: null - - object_name: tag - level1: tools - level2: tag - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 99 - total_frames: 171139 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:98 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml index f2728cf4534d52567d85a4d37425f90b004d136e..e71ef2d40bcc7ecbf95ab9e6b9bbb7daea6692d7 100644 --- a/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml +++ b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_switch_on_and_off_the_central_air_conditioning dataset_name: switch_on_and_off_the_central_air_conditioning -dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Turn off the central air conditioner objects: - object_name: central_air_conditioning level1: household_appliances @@ -16,41 +16,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_switch_on_and_off_the_central_air_conditioning -video_url: ./assets/videos/R1_Lite_switch_on_and_off_the_central_air_conditioning.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_switch_on_and_off_the_central_air_conditioning.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-19688 dataset_size: 793.3MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 35 total_frames: 19688 @@ -59,253 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:34 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: turn on ac press temp up down then turn off. +dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn off the central air conditioner - Press the temperature decrease button @@ -320,117 +47,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -449,335 +117,3 @@ structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 431 - dataset_name: switch_on_and_off_the_central_air_conditioning - dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/turn_on_and_off_central_air_conditioning_system/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_switch_on_and_off_the_central_air_conditioning - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: switch_on_and_off_the_central_air_conditioning - dataset_uuid: null - task_descriptions: - - turn on ac press temp up down. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: central_air_conditioning - level1: household_appliances - level2: central_air_conditioning - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 35 - total_frames: 19688 - total_tasks: 1 - total_videos: 105 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:34 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_tableware_arrangement.yaml b/dataset_info/R1_Lite_tableware_arrangement.yaml index cece9bac74ef353d42220a053ccd3a7d02e762f9..5fa9d1aa63563e3d6b8eb55c169ecb854c887801 100644 --- a/dataset_info/R1_Lite_tableware_arrangement.yaml +++ b/dataset_info/R1_Lite_tableware_arrangement.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_tableware_arrangement dataset_name: tableware_arrangement -dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Put the chopsticks back from the plate objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_tableware_arrangement -video_url: ./assets/videos/R1_Lite_tableware_arrangement.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_tableware_arrangement.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-16015 dataset_size: 628.5MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 8 total_frames: 16015 @@ -89,253 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:7 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put chopsticks spoons bowls into lunch boxes on plates. +dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Put the chopsticks back from the plate - Put the bowl back from the plate @@ -353,117 +80,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -482,365 +150,3 @@ structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 387 - dataset_name: tableware_arrangement - dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_and_place_tableware/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tableware_arrangement - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: tableware_arrangement - dataset_uuid: null - task_descriptions: - - put chopsticks spoons bowls on plates.Put away chopsticks, spoons, and bowls. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: lunch_box - level1: container - level2: lunch_box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 8 - total_frames: 16015 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:7 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_tableware_cleaning.yaml b/dataset_info/R1_Lite_tableware_cleaning.yaml index 52386b063c1031024a6c8ab8da93fe385ced5d71..3ba89872108b4d76fcbe17c489c23c1040b9cf06 100644 --- a/dataset_info/R1_Lite_tableware_cleaning.yaml +++ b/dataset_info/R1_Lite_tableware_cleaning.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_tableware_cleaning dataset_name: tableware_cleaning -dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -52,41 +52,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_tableware_cleaning -video_url: ./assets/videos/R1_Lite_tableware_cleaning.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_tableware_cleaning.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-327254 dataset_size: 17.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 102 total_frames: 327254 @@ -95,254 +63,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:101 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: wipe the tableware with a sponge containing detergent then put them in their - original places. +dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Rinse the chopsticks @@ -377,117 +103,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -505,372 +172,3 @@ structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 430 - dataset_name: tableware_cleaning - dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/special_version_for_dishwashing/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tableware_cleaning - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: tableware_cleaning - dataset_uuid: null - task_descriptions: - - wipe the tableware with a sponge containing detergent then put them in their - original places. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: dishwashing_liquid - level1: cleaning_supplies - level2: dishwashing_liquid - level3: null - level4: null - level5: null - - object_name: sponge - level1: cleaning_supplies - level2: sponge - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 102 - total_frames: 327254 - total_tasks: 1 - total_videos: 306 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:101 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml index 629746c85f5d46bd0ef89565027b882c46c4d88d..0ac4552d83c5c8a0d6c38f8644e6b7a8d2b6d152 100644 --- a/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml +++ b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_take_and_place_the_portable_power_bank dataset_name: take_and_place_the_portable_power_bank -dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Open the top of the storage box objects: - object_name: cloth_bag level1: container @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_and_place_the_portable_power_bank -video_url: ./assets/videos/R1_Lite_take_and_place_the_portable_power_bank.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_place_the_portable_power_bank.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-237234 dataset_size: 17.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 110 total_frames: 237234 @@ -65,253 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:109 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: open cloth bag take out power bank then put back. +dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Open the top of the storage box - Release the handle @@ -331,117 +58,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -460,341 +128,3 @@ structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 398 - dataset_name: take_and_place_the_portable_power_bank - dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_and_place_the_portable_power_bank/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_place_the_portable_power_bank - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: Mobile power bank removal and storage - dataset_uuid: null - task_descriptions: - - open cloth bag take out power bank then put back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: cloth_bag - level1: container - level2: cloth_bag - level3: null - level4: null - level5: null - - object_name: portable_power_bank - level1: electronic_equipment - level2: portable_power_bank - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 110 - total_frames: 237234 - total_tasks: 1 - total_videos: 330 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:109 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml index d1a7b51cbfa2764052abfefdacc081ea8339cdd7..b3fa88dd3ed86108919a7c1f89903eef799b57bf 100644 --- a/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_take_and_put_away_garden_stuff dataset_name: take_and_put_away_garden_stuff -dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the ball on the table objects: - object_name: refrigerator level1: furniture @@ -66,41 +66,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_and_put_away_garden_stuff -video_url: ./assets/videos/R1_Lite_take_and_put_away_garden_stuff.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-135711 dataset_size: 7.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 53 total_frames: 135711 @@ -109,253 +77,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:52 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put garden stuff in fridge drawer then take out to table. +dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the ball on the table - Pick up the ball on the lid @@ -376,117 +103,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -505,385 +173,3 @@ structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 391 - dataset_name: take_and_put_away_garden_stuff - dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/organize_toys/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_garden_stuff - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: 59 - yaml: - dataset_name: storage_items - dataset_uuid: null - task_descriptions: - - put the items on the ground and table into boxes, and cover the boxes. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - - push - objects: - - object_name: refrigerator - level1: furniture - level2: refrigerator - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - - object_name: potato - level1: food - level2: potato - level3: null - level4: null - level5: null - - object_name: green_pepper - level1: food - level2: green_pepper - level3: null - level4: null - level5: null - - object_name: pumpkin - level1: food - level2: pumpkin - level3: null - level4: null - level5: null - - object_name: apple - level1: food - level2: apple - level3: null - level4: null - level5: null - - object_name: orange - level1: food - level2: orange - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 53 - total_frames: 135711 - total_tasks: 1 - total_videos: 159 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:52 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml index fa6d2c898f6d8d2063d9490356288f59fefbe11f..f49b1735cd0d2d8313e062ccb355c45a4eafd372 100644 --- a/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_take_and_put_away_garden_stuff_a dataset_name: take_and_put_away_garden_stuff_a -dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the apple and place it on the table with right gripper objects: - object_name: refrigerator level1: furniture @@ -66,41 +66,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_and_put_away_garden_stuff_a -video_url: ./assets/videos/R1_Lite_take_and_put_away_garden_stuff_a.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-355644 dataset_size: 15.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 148 total_frames: 355644 @@ -109,253 +77,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:147 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put garden stuff in fridge drawer then take out to table. +dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the apple and place it on the table with right gripper - Place the green bell pepper in the lower drawer with right gripper @@ -399,117 +126,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -528,386 +196,3 @@ structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── a \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 435 - dataset_name: take_and_put_away_garden_stuff_a - dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/opening_or_closing_refrigerator_drawers_to_store_and_retrieve_items/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_garden_stuff_a - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: Removing_and_storing_items_from_the_refrigerator - dataset_uuid: null - task_descriptions: - - Put the things on the table in the refrigerator drawer, then take them out and - place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - - push - objects: - - object_name: refrigerator - level1: furniture - level2: refrigerator - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: tray - level1: container - level2: tray - level3: null - level4: null - level5: null - - object_name: potato - level1: food - level2: potato - level3: null - level4: null - level5: null - - object_name: green_pepper - level1: food - level2: green_pepper - level3: null - level4: null - level5: null - - object_name: pumpkin - level1: food - level2: pumpkin - level3: null - level4: null - level5: null - - object_name: apple - level1: food - level2: apple - level3: null - level4: null - level5: null - - object_name: orange - level1: food - level2: orange - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 148 - total_frames: 355644 - total_tasks: 1 - total_videos: 444 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:147 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_items.yaml b/dataset_info/R1_Lite_take_and_put_away_items.yaml index ac2f4ad5f2f20c7f4705af8339475877f1ef55d5..ec1d0ba07cbaf2e649c97b758bbb17bcaec66a1d 100644 --- a/dataset_info/R1_Lite_take_and_put_away_items.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_items.yaml @@ -1,16 +1,16 @@ +path: R1_Lite_take_and_put_away_items dataset_name: take_and_put_away_items -dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Take the mineral water out of the drawer and put it on the table objects: - object_name: table level1: furniture @@ -48,41 +48,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_and_put_away_items -video_url: ./assets/videos/R1_Lite_take_and_put_away_items.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_items.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-137069 dataset_size: 6.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 112 total_frames: 137069 @@ -91,253 +59,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:111 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take out or store umbrellas water cables boxes on drawers tables. +dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Take the mineral water out of the drawer and put it on the table - Open the drawer @@ -358,117 +85,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -487,367 +155,3 @@ structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 409 - dataset_name: take_and_put_away_items - dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/getting_or_storing_items_in_the_tv_stand/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_items - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: Storage and retrieval of items - dataset_uuid: null - task_descriptions: - - take out or store umbrellas water cables boxes on drawers tables. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - pull - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: umbrella - level1: daily_necessities - level2: umbrella - level3: null - level4: null - level5: null - - object_name: data_cable - level1: electronic_products - level2: data_cable - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: beverages - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: storage_box - level1: container - level2: storage_box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 112 - total_frames: 137069 - total_tasks: 1 - total_videos: 336 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:111 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_the_bowl.yaml b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml index 7b049399039c7122695adb36189c3f3f19a4b684..1678aa31b83aa65c031b4daa6440aee433f30f92 100644 --- a/dataset_info/R1_Lite_take_and_put_the_bowl.yaml +++ b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_take_and_put_the_bowl dataset_name: take_and_put_the_bowl -dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place it on the table objects: - object_name: cabinet level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_and_put_the_bowl -video_url: ./assets/videos/R1_Lite_take_and_put_the_bowl.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_the_bowl.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-189200 dataset_size: 7.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 94 total_frames: 189200 @@ -83,253 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:93 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put bowls plates in cabinet then take out to table close. +dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place it on the table - Put it back into the cabinet @@ -347,117 +74,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -476,359 +144,3 @@ structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 432 - dataset_name: take_and_put_the_bowl - dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_a_bowl_from_the_cabinet/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_the_bowl - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: Take out and store bowls - dataset_uuid: null - task_descriptions: - - put bowls plates in cabinet then take out to table close. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: cabinet_door - level1: furniture - level2: cabinet_door - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 94 - total_frames: 189200 - total_tasks: 1 - total_videos: 282 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:93 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml index 27ac40ebcbfe82fc12d4ffc8b0c3c48911f99d6e..3014dbe9236b906ff015a5d92e5fe7487a4bd37b 100644 --- a/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml +++ b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_take_clothes_out_of_the_washing_machine dataset_name: take_clothes_out_of_the_washing_machine -dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Press the washing machine switch objects: - object_name: washing_machine level1: electrical_appliances @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_clothes_out_of_the_washing_machine -video_url: ./assets/videos/R1_Lite_take_clothes_out_of_the_washing_machine.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_clothes_out_of_the_washing_machine.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-238333 dataset_size: 16.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 114 total_frames: 238333 @@ -71,254 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:113 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Open the washing machine, take out the clothes from inside and put them in - the basket, then close the door of the washing machine. +dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Press the washing machine switch - Close the washing machine door with the right hand @@ -340,117 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -469,347 +136,3 @@ structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 404 - dataset_name: take_clothes_out_of_the_washing_machine - dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_out_the_laundry_from_the_washing_machine/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_clothes_out_of_the_washing_machine - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_clothes_out_of_the_washing_machine - dataset_uuid: null - task_descriptions: - - turn on washer put clothes in then take out to basket. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: washing_machine - level1: electrical_appliances - level2: washing_machine - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: cloth - level1: clothing - level2: cloth - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 114 - total_frames: 238333 - total_tasks: 1 - total_videos: 342 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:113 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_take_or_store_plates.yaml b/dataset_info/R1_Lite_take_or_store_plates.yaml index fd7af44d6a0fa1adb92f1a66f63edc2b6474eed8..aba7dae5510e4242b02c5949d38169c64816ed7c 100644 --- a/dataset_info/R1_Lite_take_or_store_plates.yaml +++ b/dataset_info/R1_Lite_take_or_store_plates.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_take_or_store_plates dataset_name: take_or_store_plates -dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the plate on the stove objects: - object_name: cabinet level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_take_or_store_plates -video_url: ./assets/videos/R1_Lite_take_or_store_plates.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_take_or_store_plates.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-138676 dataset_size: 5.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 105 total_frames: 138676 @@ -77,253 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:104 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take out or store plates on the stove and in the cabinet drawers. +dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the plate on the stove - Put the plate in the cupboard @@ -338,117 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -467,353 +135,3 @@ structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 401 - dataset_name: take_or_store_plates - dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/handle_plates/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_or_store_plates - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: take_or_store_plates - dataset_uuid: null - task_descriptions: - - take out or store plates on the stove and in the cabinet drawers. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: stove - level1: furniture - level2: stove - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 105 - total_frames: 138676 - total_tasks: 1 - total_videos: 315 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:104 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_tea_service_table_setting.yaml b/dataset_info/R1_Lite_tea_service_table_setting.yaml index dc17ed6bbfb06294449e450316e17a66e94620a7..e568d26c9c0b8ef6d3852fa6af51658b24e78691 100644 --- a/dataset_info/R1_Lite_tea_service_table_setting.yaml +++ b/dataset_info/R1_Lite_tea_service_table_setting.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_tea_service_table_setting dataset_name: tea_service_table_setting -dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Return the tea bag to its original position objects: - object_name: tea_table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_tea_service_table_setting -video_url: ./assets/videos/R1_Lite_tea_service_table_setting.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_tea_service_table_setting.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-107465 dataset_size: 4.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 109 total_frames: 107465 @@ -89,253 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:108 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take water kettle tea bags from tray to table then back. +dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Return the tea bag to its original position - Pick up the tea bag @@ -359,117 +86,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -488,365 +156,3 @@ structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 434 - dataset_name: tea_service_table_setting - dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/tea_service_table_setting/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tea_service_table_setting - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: tea_service_table_setting - dataset_uuid: null - task_descriptions: - - take water kettle tea bags from tray to table then back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: tea_table - level1: furniture - level2: tea_table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: beverages - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: kettle - level1: container - level2: kettle - level3: null - level4: null - level5: null - - object_name: tea_bag - level1: drink - level2: tea_bag - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 109 - total_frames: 107465 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:108 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_throw_out_the_trash.yaml b/dataset_info/R1_Lite_throw_out_the_trash.yaml index 6a83657e9713ba039cec55de712eb78216d3263a..9aa8bb6db1592680abc89f3a0d921b8f833431ab 100644 --- a/dataset_info/R1_Lite_throw_out_the_trash.yaml +++ b/dataset_info/R1_Lite_throw_out_the_trash.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_throw_out_the_trash dataset_name: throw_out_the_trash -dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: trash_can level1: container @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_throw_out_the_trash -video_url: ./assets/videos/R1_Lite_throw_out_the_trash.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_throw_out_the_trash.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-143720 dataset_size: 6.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 109 total_frames: 143720 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:108 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take garbage bag from can walk to door put on ground. +dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the outer trash can on the ground @@ -333,117 +60,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -462,347 +130,3 @@ structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 424 - dataset_name: throw_out_the_trash - dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_trash_bag_at_the_door/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_throw_out_the_trash - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: throw_out_the_trash - dataset_uuid: null - task_descriptions: - - take garbage bag from can walk to door put on ground. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: trash_can - level1: container - level2: trash_can - level3: null - level4: null - level5: null - - object_name: garbage_bag - level1: container - level2: garbage_bag - level3: null - level4: null - level5: null - - object_name: the_door - level1: furniture - level2: the_door - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 109 - total_frames: 143720 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:108 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_tidy_up_toiletries.yaml b/dataset_info/R1_Lite_tidy_up_toiletries.yaml index d97b8cdf57b7350286a84a98919d11e9281e09d3..454a7fda7165873d8e853719579c7a38d9fe2cc0 100644 --- a/dataset_info/R1_Lite_tidy_up_toiletries.yaml +++ b/dataset_info/R1_Lite_tidy_up_toiletries.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_tidy_up_toiletries dataset_name: tidy_up_toiletries -dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the cup on the table objects: - object_name: table level1: furniture @@ -40,41 +40,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_tidy_up_toiletries -video_url: ./assets/videos/R1_Lite_tidy_up_toiletries.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_tidy_up_toiletries.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-205789 dataset_size: 9.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 115 total_frames: 205789 @@ -83,253 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:114 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: put toiletries in drawer and cup in box or on table. +dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the cup on the table - Place the comb on the table with the right gripper @@ -353,117 +80,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -481,359 +149,3 @@ structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 383 - dataset_name: tidy_up_toiletries - dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/tidy_up_bathroom_toiletries/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tidy_up_toiletries - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: tidy_up_toiletries - dataset_uuid: null - task_descriptions: - - put toiletries in drawer and cup in box or on table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: toiletries - level1: personal_care_products - level2: toiletries - level3: null - level4: null - level5: null - - object_name: drawer - level1: container - level2: drawer - level3: null - level4: null - level5: null - - object_name: storage_box - level1: container - level2: storage_box - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 115 - total_frames: 205789 - total_tasks: 1 - total_videos: 345 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:114 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_wash_the_tableware.yaml b/dataset_info/R1_Lite_wash_the_tableware.yaml index cc780d8e04dc00f5b97086d317a7e8f914c7a913..40b01dd490e8d68e3f083dba9fe268e06bdeefbf 100644 --- a/dataset_info/R1_Lite_wash_the_tableware.yaml +++ b/dataset_info/R1_Lite_wash_the_tableware.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_wash_the_tableware dataset_name: wash_the_tableware -dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp yellow bowl with right gripper objects: - object_name: table level1: furniture @@ -46,41 +46,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_wash_the_tableware -video_url: ./assets/videos/R1_Lite_wash_the_tableware.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_wash_the_tableware.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-197672 dataset_size: 7.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 137 total_frames: 197672 @@ -89,253 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:136 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: turn on faucet put tableware in sink rinse then back. +dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp yellow bowl with right gripper - Pick up the bowl @@ -386,117 +113,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -514,365 +182,3 @@ structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 389 - dataset_name: wash_the_tableware - dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/wash_dishes/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_wash_the_tableware - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: wash_the_tableware - dataset_uuid: null - task_descriptions: - - turn on faucet put tableware in sink rinse then back. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: sink - level1: container - level2: sink - level3: null - level4: null - level5: null - - object_name: chopsticks - level1: tableware - level2: chopsticks - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 137 - total_frames: 197672 - total_tasks: 1 - total_videos: 411 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:136 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_washing_board.yaml b/dataset_info/R1_Lite_washing_board.yaml index 82ca7c45630fc7c8ee4bbc4e6aa9998826778182..c5716fd263ec610994d5dc85a84cd1945314253a 100644 --- a/dataset_info/R1_Lite_washing_board.yaml +++ b/dataset_info/R1_Lite_washing_board.yaml @@ -1,7 +1,9 @@ +path: R1_Lite_washing_board dataset_name: washing_board -dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick @@ -9,9 +11,7 @@ atomic_actions: - open - wipe - close -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the cleaning cloth objects: - object_name: faucet level1: tool @@ -37,41 +37,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_washing_board -video_url: ./assets/videos/R1_Lite_washing_board.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_washing_board.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-156103 dataset_size: 6.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 97 total_frames: 156103 @@ -80,253 +48,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:96 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: turn on tap scrub cutting board with cloth then turn off tap. +dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the cleaning cloth - abnormal @@ -345,117 +72,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -473,356 +140,3 @@ structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 381 - dataset_name: washing_board - dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_cutting_board/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_washing_board - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: washing_board - dataset_uuid: null - task_descriptions: - - turn on tap scrub cutting board with cloth then turn off tap. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - - open - - wipe - - close - objects: - - object_name: faucet - level1: tool - level2: faucet - level3: null - level4: null - level5: null - - object_name: sponge - level1: daily_necessities - level2: sponge - level3: null - level4: null - level5: null - - object_name: cutting_board - level1: tool - level2: cutting_board - level3: null - level4: null - level5: null - - object_name: sink - level1: container - level2: sink - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 97 - total_frames: 156103 - total_tasks: 1 - total_videos: 291 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:96 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/R1_Lite_wipe_the_table.yaml b/dataset_info/R1_Lite_wipe_the_table.yaml index 077c9235fff740eb5b62dcc3a1db0ddebfd23ba5..67f322f2b14af7608a15345e715dc2bdf568ce0e 100644 --- a/dataset_info/R1_Lite_wipe_the_table.yaml +++ b/dataset_info/R1_Lite_wipe_the_table.yaml @@ -1,14 +1,14 @@ +path: R1_Lite_wipe_the_table dataset_name: wipe_the_table -dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pick up the tablecloth objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: R1_Lite_wipe_the_table -video_url: ./assets/videos/R1_Lite_wipe_the_table.mp4 -thumbnail_url: ./assets/thumbnails/R1_Lite_wipe_the_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-67215 dataset_size: 2.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Galaxea_R1_Lite -codebase_version: v2.1 statistics: total_episodes: 107 total_frames: 67215 @@ -71,253 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:106 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: wipe the stains on the table with a cloth. +dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the tablecloth - Place the tablecloth @@ -334,117 +61,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -action_space: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -462,347 +129,3 @@ structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 382 - dataset_name: wipe_the_table - dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 - device_model: Galaxea_R1_Lite - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/wipe_the_desktop/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_wipe_the_table - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: wipe_the_table - dataset_uuid: null - task_descriptions: - - wipe the stains on the table with a cloth. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - - object_name: stains - level1: rubbish - level2: stains - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - galaxea_r1_lite - end_effector_type: two_finger_gripper - meta: - robot_type: galaxea_r1_lite - codebase_version: v2.1 - statistics: - total_episodes: 107 - total_frames: 67215 - total_tasks: 1 - total_videos: 321 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:106 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - action: - dtype: float32 - shape: - - 14 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml index 4831797d52452e1a171e6e82c2249f158a047f51..518d902c805145badb0ee9c7718ad6909e3ed15b 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_basket_storage_banana dataset_name: basket_storage_banana -dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick up the banana with the right gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_basket_storage_banana -video_url: ./assets/videos/RMC-AIDA-L_basket_storage_banana.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_banana.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-306335 dataset_size: 3.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 654 total_frames: 306335 @@ -72,291 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:653 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the basket to the appropriate position, the right - gripper pick up the banana and place it into the basket. - - the right gripper pick up the black basket and place it horizontally in the middle - of the table, the left gripper pick up the banana and place it into the black basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the banana and place it into the black basket. - - the right gripper pick up the yellow basket and place it horizontally in the middle - of the table, the left gripper pick up the banana and place it into the yellow basket.' +dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the banana with the right gripper - Pick up the light basket with the right gripper @@ -384,145 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -541,387 +142,3 @@ structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 59 - dataset_name: basket_storage_banana - dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_banana/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_banana - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_banana - dataset_uuid: null - task_descriptions: - - the left gripper pick up the yellow basket and place it horizontally in the - middle of the table the right gripper pick up the banana and place it into the - yellow basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the banana and place it into the black - basket. - - the right gripper pick up the black basket and place it horizontally in the - middle of the table, the left gripper pick up the banana and place it into the - black basket. - - the right gripper pick up the yellow basket and place it horizontally in the - middle of the table, the left gripper pick up the banana and place it into the - yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 654 - total_frames: 306335 - total_tasks: 4 - total_videos: 1962 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:653 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml index bf7a9a45bba59e44814aa040b04773fc8e9a4086..7aa1b4f3efa75393e9846b53571f89d99e32df99 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_basket_storage_egg_yolk_pastry dataset_name: basket_storage_egg_yolk_pastry -dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the basket in the center of view with left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_basket_storage_egg_yolk_pastry -video_url: ./assets/videos/RMC-AIDA-L_basket_storage_egg_yolk_pastry.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_egg_yolk_pastry.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-295062 dataset_size: 3.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 727 total_frames: 295062 @@ -72,295 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:726 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the black basket and place it horizontally in the - middle of the table, the right gripper pick up the egg yolk pastry and place it - into the black basket. - - the right gripper pick up the black basket and place it horizontally in the middle - of the table, the left gripper pick up the egg yolk pastry and place it into the - black basket. - - the left gripper pick up the yellow basket and place it horizontally in the middle - of the table, the right gripper pick up the egg yolk pastry and place it into the - yellow basket. - - the right gripper pick up the yellow basket and place it horizontally in the middle - of the table, the left gripper pick up the egg yolk pastry and place it into the - yellow basket.' +dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the basket in the center of view with left gripper - Place the egg yolk pastry in the basket with right gripper @@ -388,145 +72,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -545,387 +142,3 @@ structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 45 - dataset_name: basket_storage_egg_yolk_pastry - dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_egg_yolk_pastry/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_egg_yolk_pastry - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_egg_yolk_pastry - dataset_uuid: null - task_descriptions: - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the egg yolk pastry and place it into - the black basket. - - the left gripper pick up the yellow basket and place it horizontally in the - middle of the table, the right gripper pick up the egg yolk pastry and place - it into the yellow basket. - - the right gripper pick up the black basket and place it horizontally in the - middle of the table, the left gripper pick up the egg yolk pastry and place - it into the black basket. - - the right gripper pick up the yellow basket and place it horizontally in the - middle of the table, the left gripper pick up the egg yolk pastry and place - it into the yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 727 - total_frames: 295062 - total_tasks: 4 - total_videos: 2181 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:726 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml index 6700da9674172076d85855e9343207f264e7e0f6..ee0cfece234e7011aebcd34b04b5be78197f3264 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_basket_storage_long_bread dataset_name: basket_storage_long_bread -dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the long bread into the basket with the left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_basket_storage_long_bread -video_url: ./assets/videos/RMC-AIDA-L_basket_storage_long_bread.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_long_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-343253 dataset_size: 3.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 753 total_frames: 343253 @@ -72,301 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:752 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the basket to the appropriate position, the right - gripper pick up the long bread and place it into the basket. - - the right gripper pick up the basket to the appropriate position, the left gripper - pick up the long bread and place it into the basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the long bread and place it into the black - basket. - - the right gripper pick up the black basket and place it horizontally in the middle - of the table, the left gripper pick up the long bread and place it into the black - basket. - - the left gripper pick up the yellow basket and place it horizontally in the middle - of the table, the right gripper pick up the long bread and place it into the yellow - basket. - - the right gripper pick up the yellow basket and place it horizontally in the middle - of the table, the left gripper pick up the long bread and place it into the yellow - basket.' +dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the long bread into the basket with the left gripper - Place the long bread into the dark basket with the right gripper @@ -405,145 +83,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,391 +153,3 @@ structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 43 - dataset_name: basket_storage_long_bread - dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_long_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_long_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_long_bread - dataset_uuid: null - task_descriptions: - - the left gripper pick up the basket to the appropriate position, the right - gripper pick up the long bread and place it into the basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the long bread and place it into the - black basket. - - the left gripper pick up the yellow basket and place it horizontally in the - middle of the table, the right gripper pick up the long bread and place it into - the yellow basket. - - the right gripper pick up the basket to the appropriate position, the left - gripper pick up the long bread and place it into the basket. - - the right gripper pick up the black basket and place it horizontally in the - middle of the table, the left gripper pick up the long bread and place it into - the black basket. - - the right gripper pick up the yellow basket and place it horizontally in the - middle of the table, the left gripper pick up the long bread and place it into - the yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 753 - total_frames: 343253 - total_tasks: 6 - total_videos: 2259 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:752 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml index bab1c40cdf1e1cdf0da2dccf47f23c210d6c7d85..2863d378c860cacd7966614555a5689e647d2883 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_basket_storage_orange dataset_name: basket_storage_orange -dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the dark basket in the center of view with the right gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_basket_storage_orange -video_url: ./assets/videos/RMC-AIDA-L_basket_storage_orange.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_orange.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-112423 dataset_size: 1.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 356 total_frames: 112423 @@ -72,293 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:355 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the black basket and place it horizontally in the - middle of the table, the right gripper pick up the orange and place it into the - black basket. - - the left gripper pick up the yellow basket and place it horizontally in the middle - of the table, the right gripper pick up the orange and place it into the yellow - basket. - - the right gripper pick up the black basket and place it horizontally in the middle - of the table, the left gripper pick up the orange and place it into the black basket. - - the right gripper pick up the yellow basket and place it horizontally in the middle - of the table, the left gripper pick up the orange and place it into the yellow basket.' +dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the dark basket in the center of view with the right gripper - Place the light basket in the center of view with the right gripper @@ -384,145 +70,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -541,389 +140,3 @@ structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 46 - dataset_name: basket_storage_orange - dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_orange/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_orange - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_orange - dataset_uuid: null - task_descriptions: - - the left gripper pick up the basket to the appropriate position, the right - gripper pick up the orange and place it into the basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the orange and place it into the black - basket. - - the left gripper pick up the yellow basket and place it horizontally in the - middle of the table, the right gripper pick up the orange and place it into - the yellow basket. - - the right gripper pick up the black basket and place it horizontally in the - middle of the table, the left gripper pick up the orange and place it into the - black basket. - - the right gripper pick up the yellow basket and place it horizontally in the - middle of the table, the left gripper pick up the orange and place it into the - yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 356 - total_frames: 112423 - total_tasks: 4 - total_videos: 1068 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:355 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml index 1d2466ca5dac85a773734bea6c0ae0582dc720b4..9e4183f7929f5fedc755969fb1cfb58050f9afd1 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_basket_storage_peach dataset_name: basket_storage_peach -dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the basket in the center of view with the left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_basket_storage_peach -video_url: ./assets/videos/RMC-AIDA-L_basket_storage_peach.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_peach.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-308398 dataset_size: 3.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 721 total_frames: 308398 @@ -72,294 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:720 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the basket to the appropriate position, the right - gripper pick up the peach and place it into the basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the peach and place it into the black basket. - - the right gripper pick up the black basket and place it horizontally in the middle - of the table, the left gripper pick up the peach and place it into the black basket. - - the left gripper pick up the yellow basket and place it horizontally in the middle - of the table, the right gripper pick up the peach and place it into the yellow basket. - - the right gripper pick up the yellow basket and place it horizontally in the middle - of the table, the left gripper pick up the peach and place it into the yellow basket.' +dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the basket in the center of view with the left gripper - Place the dark basket in the center of view with the right gripper @@ -397,145 +82,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -554,412 +152,3 @@ structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotation \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 1 - dataset_name: basket_storage_peach - dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_peach/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_peach - scene_types: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: home_storage - level2: basket - level3: null - level4: null - level5: null - - object_name: peach - level1: fruits - level2: peach - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: basket_storage_peach - dataset_uuid: null - task_descriptions: - - the left gripper pick up the basket to the appropriate position, the right - gripper pick up the peach and place it into the basket. - - the left gripper pick up the black basket and place it horizontally in the middle - of the table, the right gripper pick up the peach and place it into the black - basket. - - the left gripper pick up the yellow basket and place it horizontally in the - middle of the table, the right gripper pick up the peach and place it into the - yellow basket. - - the right gripper pick up the black basket and place it horizontally in the - middle of the table, the left gripper pick up the peach and place it into the - black basket. - - the right gripper pick up the yellow basket and place it horizontally in the - middle of the table, the left gripper pick up the peach and place it into the - yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 721 - total_frames: 308398 - total_tasks: 5 - total_videos: 2163 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:720 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_box_up_down.yaml b/dataset_info/RMC-AIDA-L_box_up_down.yaml index a98f6ea0aadcda43a39543dc3229156584d5b93f..aae98493bb56f1b485e0430b4037356d9b203740 100644 --- a/dataset_info/RMC-AIDA-L_box_up_down.yaml +++ b/dataset_info/RMC-AIDA-L_box_up_down.yaml @@ -1,14 +1,14 @@ +path: RMC-AIDA-L_box_up_down dataset_name: box_up_down -dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the bandage with right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_box_up_down -video_url: ./assets/videos/RMC-AIDA-L_box_up_down.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_box_up_down.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: 77.2 +frame_range: 0-31466 dataset_size: 383.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 159 total_frames: 31466 @@ -65,290 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:158 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pick up the box from the table with both arms. - - place the box on the table with both arms.' +dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the bandage with right gripper - Loosen the box on the table with right gripper @@ -370,145 +60,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -526,377 +128,3 @@ structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 55 - dataset_name: box_up_down - dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/box_up_down/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_box_up_down - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: box_up_down - dataset_uuid: null - task_descriptions: - - place the box on the table with both arms. - - pick up the box from the table with both arms. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 159 - total_frames: 31466 - total_tasks: 2 - total_videos: 477 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:158 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_clean_table.yaml b/dataset_info/RMC-AIDA-L_clean_table.yaml index 3e7fccad6800f0d4ae3ff50df4362cb03be557aa..ea88e1712f7fc524a30fd54fbc8e00fcd4d1ae65 100644 --- a/dataset_info/RMC-AIDA-L_clean_table.yaml +++ b/dataset_info/RMC-AIDA-L_clean_table.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_clean_table dataset_name: clean_table -dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - wipe -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the rag on the table with the right gripper objects: - object_name: table level1: furniture @@ -42,41 +41,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_clean_table -video_url: ./assets/videos/RMC-AIDA-L_clean_table.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_clean_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-514178 dataset_size: 3.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 776 total_frames: 514178 @@ -85,287 +52,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:775 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'wipe off the black water stains in the middle of the table with a blue rag. - - wipe off the brown water stains in the middle of the table with a blue rag. - - wipe off the black water stains in the middle of the table with a pruple rag. - - wipe off the brown water stains in the middle of the table with a pruple rag.' +dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the rag on the table with the right gripper - Stand the paper cup upright with the left gripper @@ -388,145 +80,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -544,396 +148,3 @@ structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 52 - dataset_name: clean_table - dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/wipe_table/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_clean_table - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: clean_table - dataset_uuid: null - task_descriptions: - - place the paper cup properly and then wipe off the black water stain in the - middle of the table with a blue towel. - - place the paper cup properly and then wipe off the brown water stain in the - middle of the table with a blue towel. - - place the paper cup properly and then wipe off the black water stain in the - middle of the table with a purple towel. - - place the paper cup properly and then wipe off the brown water stain in the - middle of the table with a purple towel. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - pick - - place - - wipe - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: blue_rag - level1: clothing - level2: blue_rag - level3: null - level4: null - level5: null - - object_name: pruple_rag - level1: clothing - level2: pruple_rag - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 776 - total_frames: 514178 - total_tasks: 4 - total_videos: 2328 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:775 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_desktop_organization.yaml b/dataset_info/RMC-AIDA-L_desktop_organization.yaml index 23683a4832cdc10c2fcff400ae537c65d0c23cd5..29089d20e4c8f230b22cfc9444d27526b88d518b 100644 --- a/dataset_info/RMC-AIDA-L_desktop_organization.yaml +++ b/dataset_info/RMC-AIDA-L_desktop_organization.yaml @@ -1,14 +1,14 @@ +path: RMC-AIDA-L_desktop_organization dataset_name: desktop_organization -dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the blue scissors into the pen holder with the right hand. objects: - object_name: table level1: furniture @@ -100,41 +100,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_desktop_organization -video_url: ./assets/videos/RMC-AIDA-L_desktop_organization.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_desktop_organization.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-2647489 dataset_size: 38.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 1660 total_frames: 2647489 @@ -143,287 +111,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1659 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the orange in the fruit plate, put the paper ball in the trash can, stand - the bottle upright, put the art knife in the pen holder, put the glue in the pen - holder, and put the eraser in the pen holder. - - put the peach in the fruit plate, put the plastic in the trash can, stand the bottle - upright, put the ruler in the pen holder, put the pen in the pen holder, and put - the scissor in the pen holder.' +dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the blue scissors into the pen holder with the right hand. - Grab the orange with the left hand. @@ -496,145 +189,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -664,452 +281,3 @@ structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotation \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 49 - dataset_name: desktop_organization - dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/desktop_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_desktop_organization - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: desktop_organization - dataset_uuid: null - task_descriptions: - - put the orange in the fruit plate, put the paper ball in the trash can, stand - the bottle upright, put the art knife in the pen holder, put the glue in the - pen holder, and put the eraser in the pen holder. - - put the peach in the fruit plate, put the plastic in the trash can, stand the - bottle upright, put the ruler in the pen holder, put the pen in the pen holder, - and put the scissor in the pen holder. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: fruit_plate - level1: container - level2: fruit_plate - level3: null - level4: null - level5: null - - object_name: paper_ball - level1: garbage - level2: paper_ball - level3: null - level4: null - level5: null - - object_name: plastic - level1: garbage - level2: plastic - level3: null - level4: null - level5: null - - object_name: trash_can - level1: container - level2: trash_can - level3: null - level4: null - level5: null - - object_name: bottle - level1: container - level2: bottle - level3: null - level4: null - level5: null - - object_name: art_knife - level1: office_supplies - level2: art_knife - level3: null - level4: null - level5: null - - object_name: glue - level1: office_supplies - level2: glue - level3: null - level4: null - level5: null - - object_name: eraser - level1: office_supplies - level2: eraser - level3: null - level4: null - level5: null - - object_name: ruler - level1: office_supplies - level2: ruler - level3: null - level4: null - level5: null - - object_name: pen - level1: office_supplies - level2: pen - level3: null - level4: null - level5: null - - object_name: scissor - level1: office_supplies - level2: scissor - level3: null - level4: null - level5: null - - object_name: pen_holder - level1: container - level2: pen_holder - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 1660 - total_frames: 2647489 - total_tasks: 2 - total_videos: 4980 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1659 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_shirt.yaml b/dataset_info/RMC-AIDA-L_fold_shirt.yaml index 9820c6734a57f89224d1d4d1cb1c23d0859e145b..40cc353a83ca0593ecddb5264f949aa1e437717f 100644 --- a/dataset_info/RMC-AIDA-L_fold_shirt.yaml +++ b/dataset_info/RMC-AIDA-L_fold_shirt.yaml @@ -1,15 +1,15 @@ +path: RMC-AIDA-L_fold_shirt dataset_name: fold_shirt -dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - fold - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Fold the lower left sleeve with the left hand. objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_fold_shirt -video_url: ./assets/videos/RMC-AIDA-L_fold_shirt.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_shirt.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-3512125 dataset_size: 29.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 1487 total_frames: 3512125 @@ -66,304 +34,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1486 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the black shirt is place with the back facing up, fold the black shirt into - a square shape. - - the black shirt is place with the front facing upwards, fold the black shirt into - a square shape. - - the blue shirt is place with the back facing up, fold the black shirt into a square - shape. - - the blue shirt is place with the front facing upwards, fold the black shirt into - a square shape. - - the navygreen shirt is place with the front facing upwards, fold the black shirt - into a square shape. - - the navygreen shirt is place with the back facing up, fold the black shirt into - a square shape.' +dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Fold the lower left sleeve with the left hand. - Fold the lower left sleeve to the left. @@ -395,145 +71,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -563,388 +163,3 @@ structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 44 - dataset_name: fold_shirt - dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fold_shirt/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_shirt - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_shirt - dataset_uuid: null - task_descriptions: - - the black shirt is place with the back facing up, fold the black shirt into - a square shape. - - the black shirt is place with the front facing upwards, fold the black shirt - into a square shape. - - the blue shirt is place with the back facing up, fold the black shirt into a - square shape. - - the blue shirt is place with the front facing upwards, fold the black shirt - into a square shape. - - the navygreen shirt is place with the back facing up, fold the black shirt into - a square shape. - - the navygreen shirt is place with the front facing upwards, fold the black shirt - into a square shape. - scene_type: - - home - atomic_actions: - - grasp - - pick - - fold - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: shirt - level1: clothing - level2: shirt - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 1487 - total_frames: 3512125 - total_tasks: 6 - total_videos: 4461 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1486 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_shorts.yaml b/dataset_info/RMC-AIDA-L_fold_shorts.yaml index 4ea332805a7e17a128fd57f210d3a8ab445da6b4..96e79d9a5ca0676552eede51dd6e11ca7e1895d4 100644 --- a/dataset_info/RMC-AIDA-L_fold_shorts.yaml +++ b/dataset_info/RMC-AIDA-L_fold_shorts.yaml @@ -1,15 +1,15 @@ +path: RMC-AIDA-L_fold_shorts dataset_name: fold_shorts -dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - fold - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grab the lower left pant leg with your left hand. objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_fold_shorts -video_url: ./assets/videos/RMC-AIDA-L_fold_shorts.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_shorts.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-730046 dataset_size: 9.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 866 total_frames: 730046 @@ -66,295 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:865 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the shorts is place with the front facing upwards, the left gripper grasp - the waist of the shorts, and the right gripper grasp the bottom of the shorts and - folds them in the middle. - - the shorts is place with the back facing up, the left gripper grasp the waist of - the shorts, and the right gripper grasp the bottom of the shorts and folds them - in the middle. - - the shorts is place with the front facing upwards, the right gripper grasp the waist - of the shorts, and the left gripper grasp the bottom of the shorts and folds them - in the middle. - - the shorts is place with the back facing up, the right gripper grasp the waist of - the shorts, and the left gripper grasp the bottom of the shorts and folds them in - the middle.' +dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab the lower left pant leg with your left hand. - Grab the lower right pant leg with your right hand. @@ -393,145 +78,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -549,381 +146,3 @@ structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 58 - dataset_name: fold_shorts - dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fold_shorts/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_shorts - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_shorts - dataset_uuid: null - task_descriptions: - - the shorts is place with the back facing up, the left gripper grasp the waist - of the shorts, and the right gripper grasp the bottom of the shorts and folds - them in the middle. - - the shorts is place with the front facing upwards, the left gripper grasp the - waist of the shorts, and the right gripper grasp the bottom of the shorts and - folds them in the middle. - - the shorts is place with the back facing up, the right gripper grasp the waist - of the shorts, and the left gripper grasp the bottom of the shorts and folds - them in the middle. - - the shorts is place with the front facing upwards, the right gripper grasp the - waist of the shorts, and the left gripper grasp the bottom of the shorts and - folds them in the middle. - scene_type: - - home - atomic_actions: - - grasp - - pick - - fold - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: shorts - level1: clothing - level2: shorts - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 866 - total_frames: 730046 - total_tasks: 4 - total_videos: 2598 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:865 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_towel.yaml b/dataset_info/RMC-AIDA-L_fold_towel.yaml index 0878075f890d67d8952be3c779a1a8b8292a8c3e..83063f42d83d7ce9db9aa03bbd6f0172e1fd810a 100644 --- a/dataset_info/RMC-AIDA-L_fold_towel.yaml +++ b/dataset_info/RMC-AIDA-L_fold_towel.yaml @@ -1,15 +1,15 @@ +path: RMC-AIDA-L_fold_towel dataset_name: fold_towel -dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - unfold -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -23,41 +23,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_fold_towel -video_url: ./assets/videos/RMC-AIDA-L_fold_towel.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_towel.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-139069 dataset_size: 1.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 314 total_frames: 139069 @@ -66,283 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:313 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'take out a white towel and unfold it. - - take out a black towel and unfold it.' +dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Press and secure one corner of the towel with the right arm @@ -360,145 +57,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -516,371 +125,3 @@ structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 57 - dataset_name: fold_towel - dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/unfold_towel/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_towel - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_towel - dataset_uuid: null - task_descriptions: - - take out a white towel and unfold it. - - take out a green towel and unfold it. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - - unfold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 314 - total_frames: 139069 - total_tasks: 2 - total_videos: 942 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:313 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_food_packaging.yaml b/dataset_info/RMC-AIDA-L_food_packaging.yaml index 2a48649751d138105dd68b621a8b2d4560ab92f7..f7adce7c0569d1108c2987d0d353c0c1a8d3710a 100644 --- a/dataset_info/RMC-AIDA-L_food_packaging.yaml +++ b/dataset_info/RMC-AIDA-L_food_packaging.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_food_packaging dataset_name: food_packaging -dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grab the pear with your right hand. objects: - object_name: table level1: furniture @@ -54,41 +53,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_food_packaging -video_url: ./assets/videos/RMC-AIDA-L_food_packaging.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_food_packaging.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-817652 dataset_size: 9.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 497 total_frames: 817652 @@ -97,287 +64,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:496 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the blue bag, the right gripper successively pick - up the lunch box, cucumber and pear and place them into the bag, the right gripper - zip up the bag. - - the left gripper pick up the blue bag, the right gripper successively pick up the - lunch box, bananna and peach and place them into the bag, the right gripper zip - up the bag.' +dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab the pear with your right hand. - Pick up the lunch box with your right hand. @@ -403,145 +95,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -559,408 +164,3 @@ structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 54 - dataset_name: food_packaging - dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/food_packaging/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_food_packaging - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: food_packaging - dataset_uuid: null - task_descriptions: - - the left gripper pick up the blue bag, the right gripper pick up the lunch box - from the table and placed it in the bag, the right gripper pick up the cucumber - from the table and placed it in the bag,the right gripper pick up the pear from - the table and placed it in the bag, the right gripper zip up the bag. - - the left gripper pick up the blue bag, the right gripper pick up the lunch box - from the table and placed it in the bag, the right gripper pick up the banana - from the table and placed it in the bag,the right gripper pick up the peach - from the table and placed it in the bag, the right gripper zip up the bag. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - - pull - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bag - level1: container - level2: bag - level3: null - level4: null - level5: null - - object_name: lunch_box - level1: container - level2: lunch_box - level3: null - level4: null - level5: null - - object_name: cucumber - level1: vegetable - level2: cucumber - level3: null - level4: null - level5: null - - object_name: pear - level1: fruit - level2: pear - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 497 - total_frames: 817652 - total_tasks: 2 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:496 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_food_storage.yaml b/dataset_info/RMC-AIDA-L_food_storage.yaml index 652fcafebd3bc6597cf2b9f99ed167ec8f4161dd..6ef9c477f3ce13ffb6043a68e345157a0ddc6a85 100644 --- a/dataset_info/RMC-AIDA-L_food_storage.yaml +++ b/dataset_info/RMC-AIDA-L_food_storage.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_food_storage dataset_name: food_storage -dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Lift the woven bag with the left gripper to open it objects: - object_name: table level1: furniture @@ -47,41 +46,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_food_storage -video_url: ./assets/videos/RMC-AIDA-L_food_storage.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_food_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-274806 dataset_size: 2.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 499 total_frames: 274806 @@ -90,303 +57,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:498 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pick up the bread from the table and place it in the brown handbag. - - pick up the orange from the table and place it in the brown handbag. - - pick up the orange and peach from the table and place it in the brown handbag. - - pick up the peach from the table and place it in the brown handbag. - - pick up the bread and egg yolk pastry from the table and place it in the brown handbag. - - pick up the egg yolk pastry from the table and place it in the brown handbag. - - pick up the bread from the table and place it in the white handbag. - - pick up the orange from the table and place it in the white handbag. - - pick up the orange and peach from the table and place it in the white handbag. - - pick up the peach from the table and place it in the white handbag. - - pick up the bread and egg yolk pastry from the table and place it in the white handbag. - - pick up the egg yolk pastry from the table and place it in the white handbag.' +dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Lift the woven bag with the left gripper to open it - Lower the woven bag with the left gripper to close it @@ -409,145 +85,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -565,407 +153,3 @@ structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 41 - dataset_name: food_storage - dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/food_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_food_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: food_storage - dataset_uuid: null - task_descriptions: - - pick up the bread from the table and place it in the brown handbag. - - pick up the bread and egg yolk pastry from the table and place it in the brown - handbag. - - pick up the egg yolk pastry from the table and place it in the brown handbag. - - pick up the orange from the table and place it in the brown handbag. - - pick up the orange and peach from the table and place it in the brown handbag. - - pick up the peach from the table and place it in the brown handbag. - - pick up the bread from the table and place it in the white handbag. - - pick up the bread and egg yolk pastry from the table and place it in the white - handbag. - - pick up the egg yolk pastry from the table and place it in the white handbag. - - pick up the orange from the table and place it in the white handbag. - - pick up the orange and peach from the table and place it in the white handbag. - - pick up the peach from the table and place it in the white handbag. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: handbag - level1: container - level2: handbag - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 499 - total_frames: 274806 - total_tasks: 12 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:498 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fruit_storage.yaml b/dataset_info/RMC-AIDA-L_fruit_storage.yaml index a54c2d729367532dd3f01c434769ca161b6a70ac..f46e120bfe385f7af08a0e69bcef08e76f7bfa98 100644 --- a/dataset_info/RMC-AIDA-L_fruit_storage.yaml +++ b/dataset_info/RMC-AIDA-L_fruit_storage.yaml @@ -1,15 +1,14 @@ +path: RMC-AIDA-L_fruit_storage dataset_name: fruit_storage -dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -41,41 +40,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_fruit_storage -video_url: ./assets/videos/RMC-AIDA-L_fruit_storage.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fruit_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-291785 dataset_size: 2.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 521 total_frames: 291785 @@ -84,286 +51,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:520 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the bowl from the table, the right gripper pick up - the banana from the table and place it in the bowl, the left gripper put down the - bowl. - - the left gripper pick up the banana from the table and place it in the middle plate, - the right gripper pick up the grape from the table and place it in the middle plate.' +dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the grape in the purple plate with left gripper @@ -389,145 +82,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -545,393 +150,3 @@ structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 38 - dataset_name: fruit_storage - dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fruit_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fruit_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fruit_storage - dataset_uuid: null - task_descriptions: - - the left gripper pick up the bowl from the table, the right gripper pick up - the banana from the table and place it in the bowl, the left gripper put down - the bowl. - - the left gripper pick up the banana from the table and place it in the middle - plate, the right gripper pick up the grape from the table and place it in the - middle plate. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: grape - level1: fruit - level2: grape - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 521 - total_frames: 291785 - total_tasks: 2 - total_videos: 1563 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:520 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_get_water.yaml b/dataset_info/RMC-AIDA-L_get_water.yaml index ebb1db29fa2a0b953646dc56c0af28a13420db77..60f0717ad89912fcd675f7674b6e3f7933b0b3b5 100644 --- a/dataset_info/RMC-AIDA-L_get_water.yaml +++ b/dataset_info/RMC-AIDA-L_get_water.yaml @@ -1,17 +1,16 @@ +path: RMC-AIDA-L_get_water dataset_name: get_water -dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - hold - push -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Move the cup beneath the water dispenser nozzle with the right gripper objects: - object_name: table level1: furniture @@ -37,41 +36,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_get_water -video_url: ./assets/videos/RMC-AIDA-L_get_water.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_get_water.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-327536 dataset_size: 2.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 333 total_frames: 327536 @@ -80,289 +47,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:332 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the black cup and place it horizontally under the - faucet, the right gripper turn on the faucet to fill the cup, and then turn off - the faucet. - - the left gripper pick up the red cup and place it horizontally under the faucet, - the right gripper turn on the faucet to fill the cup, and then turn off the faucet. - - the right gripper pick up the red cup and place it horizontally under the faucet, - the left gripper turn on the faucet to fill the cup, and then turn off the faucet.' +dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move the cup beneath the water dispenser nozzle with the right gripper - Close the dispenser valve with the right gripper @@ -381,145 +71,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -537,391 +139,3 @@ structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 47 - dataset_name: get_water - dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/get_water/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_get_water - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: get_water - dataset_uuid: null - task_descriptions: - - the left gripper pick up the black cup and place it horizontally under the faucet, - the right gripper turn on the faucet to fill the cup, and then turn off the - faucet. - - the left gripper pick up the red cup and place it horizontally under the faucet, - the right gripper turn on the faucet to fill the cup, and then turn off the - faucet. - - the right gripper pick up the red cup and place it horizontally under the faucet, - the left gripper turn on the faucet to fill the cup, and then turn off the faucet. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - - hold - - push - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: faucet - level1: tool - level2: faucet - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: water - level1: drink - level2: water - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 333 - total_frames: 327536 - total_tasks: 3 - total_videos: 999 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:332 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_glasses_storage.yaml b/dataset_info/RMC-AIDA-L_glasses_storage.yaml index 368b682c8d521e256468d10e2a83b1b0aad0cc0a..c50b72d692a11b99db4ef3f224c778f20d727eca 100644 --- a/dataset_info/RMC-AIDA-L_glasses_storage.yaml +++ b/dataset_info/RMC-AIDA-L_glasses_storage.yaml @@ -1,16 +1,16 @@ +path: RMC-AIDA-L_glasses_storage dataset_name: glasses_storage -dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - fold - close - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the glasses case in the center of the table with your left hand. objects: - object_name: table level1: furniture @@ -30,41 +30,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_glasses_storage -video_url: ./assets/videos/RMC-AIDA-L_glasses_storage.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_glasses_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-861465 dataset_size: 8.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 990 total_frames: 861465 @@ -73,287 +41,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:989 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the black glasses into the black glasses case. - - put the black glasses into the green glasses case. - - put the white glasses into the black glasses case. - - put the white glasses into the green glasses case.' +dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the glasses case in the center of the table with your left hand. - Grab the glasses case with your left hand. @@ -382,145 +75,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -538,380 +144,3 @@ structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 53 - dataset_name: glasses_storage - dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/glasses_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_glasses_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: glasses_storage - dataset_uuid: null - task_descriptions: - - put the black glasses into the black glasses case. - - put the black glasses into the green glasses case. - - put the white glasses into the black glasses case. - - put the white glasses into the green glasses case. - scene_type: - - home - atomic_actions: - - grasp - - pick - - fold - - close - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: glasses_case - level1: daily_necessities - level2: glasses_case - level3: null - level4: null - level5: null - - object_name: glasses - level1: daily_necessities - level2: glasses - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 990 - total_frames: 861465 - total_tasks: 4 - total_videos: 2970 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:989 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml index f5c3406e77a8607c758833cb007efc9ead35becf..a048751a80debd54e67f6a635d7c4deef9803d6c 100644 --- a/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml +++ b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml @@ -1,15 +1,16 @@ +path: RMC-AIDA-L_organise_the_document_bag dataset_name: organise_the_document_bag -dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b -scene_type: -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - pull -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pulling up the zipper on the transparent plastic bag with the right gripper + to close it objects: - object_name: table level1: furniture @@ -23,41 +24,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_organise_the_document_bag -video_url: ./assets/videos/RMC-AIDA-L_organise_the_document_bag.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_organise_the_document_bag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-225360 dataset_size: 2.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 480 total_frames: 225360 @@ -66,287 +35,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:479 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Open the green document bag. - - Open the green document bag. - - Open the red document bag. - - Open the red document bag.' +dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pulling up the zipper on the transparent plastic bag with the right gripper to close it @@ -366,145 +60,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -523,373 +130,3 @@ structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 56 - dataset_name: organise_the_document_bag - dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pull_document_bag/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_organise_the_document_bag - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: organise_the_document_bag - dataset_uuid: null - task_descriptions: - - open the green document bag with left hand. - - open the green document bag with right hand. - - open the red document bag with left hand. - - open the red document bag with right hand. - scene_type: - - office - atomic_actions: - - grasp - - place - - pick - - pull - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: document_bag - level1: container - level2: document_bag - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 480 - total_frames: 225360 - total_tasks: 4 - total_videos: 1440 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:479 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_test_tube.yaml b/dataset_info/RMC-AIDA-L_place_test_tube.yaml index b4dc844857fc9023a81de6fc60fb361190e4f9ba..a40959676c0fb5e073c083a7ddba14a496246ab9 100644 --- a/dataset_info/RMC-AIDA-L_place_test_tube.yaml +++ b/dataset_info/RMC-AIDA-L_place_test_tube.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_place_test_tube dataset_name: place_test_tube -dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d -scene_type: -- school -- hospital +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - move -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: "Place the test tube on the test tube rack with the left gripper \uFEFF" objects: - object_name: table level1: furniture @@ -30,41 +29,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_place_test_tube -video_url: ./assets/videos/RMC-AIDA-L_place_test_tube.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_test_tube.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-365863 dataset_size: 4.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 648 total_frames: 365863 @@ -73,282 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:647 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: Pick up the test tube rack with one hand, transfer it to the other, and then - place it into the test tube rack. +dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - "Place the test tube on the test tube rack with the left gripper \uFEFF" - End @@ -370,145 +67,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -526,380 +136,3 @@ structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 48 - dataset_name: place_test_tube - dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/test_tubes_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_test_tube - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_test_tube - dataset_uuid: null - task_descriptions: - - pick up the test tube rack with the left hand, transfer it to the right, then - place it into the test tube rack. - - pick up the test tube rack with the left hand, transfer it to the right, then - place it into the test tube rack. - scene_type: - - school - - hospital - atomic_actions: - - grasp - - place - - pick - - move - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: test_tube_rack - level1: container - level2: test_tube_rack - level3: null - level4: null - level5: null - - object_name: test_tube - level1: container - level2: test_tube - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 648 - total_frames: 365863 - total_tasks: 1 - total_videos: 1944 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:647 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml index df2d4cbda8e3ebf97f0cfbab27305034f807fb71..e03ba4ce326da2a518e303ba3e26046202b331f9 100644 --- a/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml +++ b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml @@ -1,15 +1,15 @@ +path: RMC-AIDA-L_place_the_fruits_repeatedly dataset_name: place_the_fruits_repeatedly -dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 -scene_type: -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick up the bowl with the left gripper objects: - object_name: table level1: furniture @@ -47,41 +47,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_place_the_fruits_repeatedly -video_url: ./assets/videos/RMC-AIDA-L_place_the_fruits_repeatedly.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_the_fruits_repeatedly.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-541540 dataset_size: 3.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 481 total_frames: 541540 @@ -90,295 +58,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:480 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the bread into the blue bowl and pour it out repeatedly. - - put the egg yolk pastry into the blue bowl and pour it out repeatedly. - - put the orange into the blue bowl and pour it out repeatedly. - - put the peach into the blue bowl and pour it out repeatedly. - - put the bread into the pink bowl and pour it out repeatedly. - - put the egg yolk pastry into the pink bowl and pour it out repeatedly. - - put the orange into the pink bowl and pour it out repeatedly. - - put the peach into the pink bowl and pour it out repeatedly.' +dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the bowl with the left gripper - Place the bread into the bowl @@ -405,145 +90,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -562,401 +160,3 @@ structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 39 - dataset_name: place_the_fruits_repeatedly - dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_bowl_repeatedly/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_the_fruits_repeatedly - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_the_fruits_repeatedly - dataset_uuid: null - task_descriptions: - - put the peach into the blue bowl and pour it out repeatedly. - - put the orange into the blue bowl and pour it out repeatedly. - - put the egg yolk pastry into the blue bowl and pour it out repeatedly. - - put the bread into the blue bowl and pour it out repeatedly. - - put the peach into the pink bowl and pour it out repeatedly. - - put the orange into the pink bowl and pour it out repeatedly. - - put the egg yolk pastry into the pink bowl and pour it out repeatedly. - - put the bread into the pink bowl and pour it out repeatedly. - scene_type: - - kitchen - atomic_actions: - - grasp - - place - - pick - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: bowl - level1: container - level2: bowl - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: bread - level1: food - level2: bread - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 481 - total_frames: 541540 - total_tasks: 8 - total_videos: 1443 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:480 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_towel.yaml b/dataset_info/RMC-AIDA-L_place_towel.yaml index a18e5de7366bb8ea3322b525efd3d710a9135ff8..8719df7dd2efc38dab8f6099ca9633a80bab8ade 100644 --- a/dataset_info/RMC-AIDA-L_place_towel.yaml +++ b/dataset_info/RMC-AIDA-L_place_towel.yaml @@ -1,14 +1,14 @@ +path: RMC-AIDA-L_place_towel dataset_name: place_towel -dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_place_towel -video_url: ./assets/videos/RMC-AIDA-L_place_towel.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_towel.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-281308 dataset_size: 4.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 398 total_frames: 281308 @@ -65,283 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:397 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pick up the towel from the storage box and lay it flat on the black tablecloth. - - pick up the towel from the storage box and lay it flat on the table.' +dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Spread the towel flat with the left gripper @@ -359,145 +56,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -515,370 +124,3 @@ structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 60 - dataset_name: place_towel - dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/place_towel/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_towel - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: place_towel - dataset_uuid: null - task_descriptions: - - pick up the towel from the storage box and lay it flat on the table. - - pick up the towel from the storage box and lay it flat on the black tablecloth. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: towel - level1: clothing - level2: towel - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 398 - total_frames: 281308 - total_tasks: 2 - total_videos: 1194 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:397 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_plate_storage.yaml b/dataset_info/RMC-AIDA-L_plate_storage.yaml index 0f7801881833530f7f90dc0083029d25722cdfa9..d3763fb6fa5239ec829d586b8ccbbfdb480846b4 100644 --- a/dataset_info/RMC-AIDA-L_plate_storage.yaml +++ b/dataset_info/RMC-AIDA-L_plate_storage.yaml @@ -1,14 +1,14 @@ +path: RMC-AIDA-L_plate_storage dataset_name: plate_storage -dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the plate on the shelf with the right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_plate_storage -video_url: ./assets/videos/RMC-AIDA-L_plate_storage.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_plate_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-284602 dataset_size: 1.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 498 total_frames: 284602 @@ -71,283 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:497 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Grip the plate with one hand, pass it to the other, then set it on the shelf. - - Grip the plate with one hand, pass it to the other, then set it on the shelf.' +dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the plate on the shelf with the right gripper - End @@ -366,145 +63,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -522,378 +131,3 @@ structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 64 - dataset_name: plate_storage - dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/storage_plate/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_plate_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: plate_storage - dataset_uuid: null - task_descriptions: - - grip the plate with the left hand, pass it to the right, then set it on the - shelf. - - grip the plate with the right hand, pass it to the left, then set it on the - shelf. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: shelf - level1: furniture - level2: shelf - level3: null - level4: null - level5: null - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 498 - total_frames: 284602 - total_tasks: 2 - total_videos: 1494 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:497 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml index a06938f5904bf6cc238d0878cdab2e47b97c6c40..bd8ea69582fb864efae36a98fade585fade674a1 100644 --- a/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml +++ b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_pour_coffee_beans dataset_name: pour_coffee_beans -dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 -scene_type: -- kitchen -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - takeout -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the spoon back in its original place with the right gripper objects: - object_name: table level1: furniture @@ -60,41 +59,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_pour_coffee_beans -video_url: ./assets/videos/RMC-AIDA-L_pour_coffee_beans.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_coffee_beans.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-352789 dataset_size: 1.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 493 total_frames: 352789 @@ -103,303 +70,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:492 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Use a blue spoon to take out the coffee beans from the glass and pour them - into the gray cup. - - Use a pink spoon to take out the coffee beans from the glass and pour them into - the gray cup. - - Use a blue spoon to take out the coffee beans from the glass and pour them into - the red cup. - - Use a pink spoon to take out the coffee beans from the glass and pour them into - the gray cup. - - Use a blue spoon to take out the coffee beans from the glass and pour them into - the red cup. - - Use a pink spoon to take out the coffee beans from the glass and pour them into - the red cup. - - Use a pink spoon to take out the coffee beans from the glass and pour them into - the red cup. - - Use a blue spoon to take out the coffee beans from the glass and pour them into - the gray cup.' +dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the spoon back in its original place with the right gripper - Scoop a spoonful of beans into the cup with the right gripper @@ -416,145 +92,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -573,422 +162,3 @@ structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 40 - dataset_name: pour_coffee_beans - dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_coffee_beans/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_coffee_beans - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_coffee_beans - dataset_uuid: null - task_descriptions: - - use a blue spoon with right hand to take out the coffee beans from the glass, - and then pour the coffee beans into the gray cup. - - use a pink spoon with right hand to take out the coffee beans from the glass, - and then pour the coffee beans into the gray cup. - - use a blue spoon with right hand to take out the coffee beans from the glass, - and then pour the coffee beans into the red cup. - - use a pink spoon with left hand to take out the coffee beans from the glass, - and then pour the coffee beans into the gray cup. - - use a blue spoon with left hand to take out the coffee beans from the glass, - and then pour the coffee beans into the red cup. - - use a pink spoon with left hand to take out the coffee beans from the glass, - and then pour the coffee beans into the red cup. - - use a pink spoon with right hand to take out the coffee beans from the glass, - and then pour the coffee beans into the red cup. - - use a blue spoon with left hand to take out the coffee beans from the glass, - and then pour the coffee beans into the gray cup. - scene_type: - - kitchen - - restaurant - atomic_actions: - - grasp - - place - - pick - - takeout - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: gray_cup - level1: container - level2: gray_cup - level3: null - level4: null - level5: null - - object_name: red_cup - level1: container - level2: red_cup - level3: null - level4: null - level5: null - - object_name: glass - level1: container - level2: glass - level3: null - level4: null - level5: null - - object_name: coffee_bean - level1: food - level2: coffee_bean - level3: null - level4: null - level5: null - - object_name: blue_spoon - level1: tableware - level2: blue_spoon - level3: null - level4: null - level5: null - - object_name: pink_spoon - level1: tableware - level2: pink_spoon - level3: null - level4: null - level5: null - - object_name: glass_lid - level1: daily_necessities - level2: glass_lid - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 493 - total_frames: 352789 - total_tasks: 8 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:492 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_rice.yaml b/dataset_info/RMC-AIDA-L_pour_rice.yaml index 26a8138c53700f382e4895e397115e8f00e0f6e9..75c502e5d45de62f200c5b61cd1c108d97b3996a 100644 --- a/dataset_info/RMC-AIDA-L_pour_rice.yaml +++ b/dataset_info/RMC-AIDA-L_pour_rice.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_pour_rice dataset_name: pour_rice -dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 -scene_type: -- kitchen -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick up the cup with rice in it with the left gripper objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_pour_rice -video_url: ./assets/videos/RMC-AIDA-L_pour_rice.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_rice.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-413739 dataset_size: 2.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 714 total_frames: 413739 @@ -79,285 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:713 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Place the bowl in the middle of the table with one hand and pour the rice - from the grain cup into it with the other hand. - - Place the bowl in the middle of the table with one hand and pour the rice from the - grain cup into it with the other hand.' +dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the cup with rice in it with the left gripper - End @@ -383,145 +77,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -539,386 +145,3 @@ structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 62 - dataset_name: pour_rice - dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_rice/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_rice - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_rice - dataset_uuid: null - task_descriptions: - - place the bowl in the middle of the table with your right hand and pour the - rice from the grain cup into it with your left hand. - - place the bowl in the middle of the table with your left hand and pour the rice - from the grain cup into it with your right hand. - scene_type: - - kitchen - - restaurant - atomic_actions: - - grasp - - pick - - place - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rice - level1: food - level2: rice - level3: null - level4: null - level5: null - - object_name: grain_cup - level1: container - level2: grain_cup - level3: null - level4: null - level5: null - - object_name: rice_cooker - level1: home_appliances - level2: rice_cooker - level3: null - level4: null - level5: null - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 714 - total_frames: 413739 - total_tasks: 2 - total_videos: 2142 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:713 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_tea.yaml b/dataset_info/RMC-AIDA-L_pour_tea.yaml index a67e66cd0053a3e9be99f99cea11063c72aeb1c5..fd1ae7dff44582d1b2b2f0c00ffebc023777f264 100644 --- a/dataset_info/RMC-AIDA-L_pour_tea.yaml +++ b/dataset_info/RMC-AIDA-L_pour_tea.yaml @@ -1,16 +1,15 @@ +path: RMC-AIDA-L_pour_tea dataset_name: pour_tea -dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 -scene_type: -- home -- restaurant +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pour tea into the teacup with the light gripper objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_pour_tea -video_url: ./assets/videos/RMC-AIDA-L_pour_tea.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_tea.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-547759 dataset_size: 4.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 790 total_frames: 547759 @@ -79,283 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:789 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Grasp the handle of the teapot with one hand and pour tea into the teacup. - - Grasp the handle of the teapot with one hand and pour tea into the teacup.' +dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pour tea into the teacup with the light gripper - Pour tea into the teacup with the right gripper @@ -379,145 +75,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -535,384 +143,3 @@ structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 63 - dataset_name: pour_tea - dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_tea/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_tea - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_tea - dataset_uuid: null - task_descriptions: - - grasp the handle of the teapot with left hand and pour tea into the teacup. - - grasp the handle of the teapot with right hand and pour tea into the teacup. - scene_type: - - home - - restaurant - atomic_actions: - - grasp - - place - - pick - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: tea - level1: water - level2: tea - level3: null - level4: null - level5: null - - object_name: teapot - level1: container - level2: teapot - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 790 - total_frames: 547759 - total_tasks: 2 - total_videos: 2370 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:789 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pull_open_bag.yaml b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml index 31dec14924a97e590f4117dd33dcb0c594625fae..f2906ce0788f392c4740dc77d50adf3b357fbe4d 100644 --- a/dataset_info/RMC-AIDA-L_pull_open_bag.yaml +++ b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml @@ -1,15 +1,15 @@ +path: RMC-AIDA-L_pull_open_bag dataset_name: pull_open_bag -dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pull - zip - up -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grab the zipper with your left hand. objects: - object_name: table level1: furniture @@ -29,41 +29,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_pull_open_bag -video_url: ./assets/videos/RMC-AIDA-L_pull_open_bag.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pull_open_bag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-684327 dataset_size: 8.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 1396 total_frames: 684327 @@ -72,289 +40,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1395 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'unzip the black food bag. - - close the zipper of the black food bag. - - close the zipper of the food bag. - - unzip the khaki food bag. - - close the zipper of the khaki food bag.' +dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grab the zipper with your left hand. - Abnormal @@ -378,145 +69,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -546,380 +161,3 @@ structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 51 - dataset_name: pull_open_bag - dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pull_open_food_bag/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pull_open_bag - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pull_open_bag - dataset_uuid: null - task_descriptions: - - unzip the black food bag. - - close the zipper of the black food bag. - - unzip the khaki food bag. - - close the zipper of the khaki food bag. - - close the zipper of the food bag. - scene_type: - - home - atomic_actions: - - grasp - - pull - - zip - - up - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: food_bag - level1: container - level2: food_bag - level3: null - level4: null - level5: null - - object_name: zipper - level1: fastener - level2: zipper - level3: null - level4: null - level5: null - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 1396 - total_frames: 684327 - total_tasks: 5 - total_videos: 4188 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1395 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_stack_baskets.yaml b/dataset_info/RMC-AIDA-L_stack_baskets.yaml index ccee2cda144a7773bfb6fa1610987017474f24fa..c66f71fe9b9d36ab0f6550750ba4e7f009b13d2a 100644 --- a/dataset_info/RMC-AIDA-L_stack_baskets.yaml +++ b/dataset_info/RMC-AIDA-L_stack_baskets.yaml @@ -1,46 +1,15 @@ +path: RMC-AIDA-L_stack_baskets dataset_name: stack_baskets -dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 -scene_type: [] -atomic_actions: [] +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: 77.2 +scene_type: [] +atomic_actions: [] +tasks: Pick up the light basket with the right gripper objects: [] -path: RMC-AIDA-L_stack_baskets -video_url: ./assets/videos/RMC-AIDA-L_stack_baskets.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_stack_baskets.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-278342 dataset_size: 3.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 484 total_frames: 278342 @@ -49,283 +18,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:483 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the brown basket on top of the yellow basket. - - put the yellow basket on top of the brown basket.' +dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the light basket with the right gripper - Place the light basket in the center of the table with left gripper @@ -350,145 +48,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ + │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -507,342 +118,3 @@ structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 42 - dataset_name: stack_baskets - dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/stack_baskets/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_stack_baskets - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: {} - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 484 - total_frames: 278342 - total_tasks: 2 - total_videos: 1452 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:483 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_stir_coffee.yaml b/dataset_info/RMC-AIDA-L_stir_coffee.yaml index 992f4513191c7b5bf162c1a10d366ef106238485..bab03ac9ebb713e41622f70acc322adf0cf2396b 100644 --- a/dataset_info/RMC-AIDA-L_stir_coffee.yaml +++ b/dataset_info/RMC-AIDA-L_stir_coffee.yaml @@ -1,18 +1,16 @@ +path: RMC-AIDA-L_stir_coffee dataset_name: stir_coffee -dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 -scene_type: -- home -- office -- cafe +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - take - put - move - stir -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Stir the coffee in the cup with the right gripper objects: - object_name: table level1: furniture @@ -38,41 +36,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_stir_coffee -video_url: ./assets/videos/RMC-AIDA-L_stir_coffee.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_stir_coffee.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-555807 dataset_size: 3.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 767 total_frames: 555807 @@ -81,303 +47,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:766 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'Move the grey cup to the center, lift the blue spoon, stir it three times - in the cup, and put the spoon into the cup. - - Move the grey cup to the center, lift the blue spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the grey cup to the center, lift the pink spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the grey cup to the center, lift the pink spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the red cup to the center, lift the blue spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the red cup to the center, lift the blue spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the red cup to the center, lift the pink spoon, stir it three times in the - cup, and put the spoon into the cup. - - Move the red cup to the center, lift the pink spoon, stir it three times in the - cup, and put the spoon into the cup.' +dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Stir the coffee in the cup with the right gripper - Stir the coffee with right gripper @@ -403,145 +78,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -559,400 +146,3 @@ structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 50 - dataset_name: stir_coffee - dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/stir_coffee/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_stir_coffee - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: stir_coffee - dataset_uuid: null - task_descriptions: - - move the grey cup to the center with your right hand, lift the blue spoon with - your left hand and stir it three times in the cup, put the spoon into the cup. - - move the grey cup to the center with your left hand, lift the blue spoon with - your right hand and stir it three times in the cup, put the spoon into the cup. - - move the grey cup to the center with your right hand, lift the pink spoon with - your left hand and stir it three times in the cup, put the spoon into the cup. - - move the grey cup to the center with your left hand, lift the pink spoon with - your right hand and stir it three times in the cup, put the spoon into the cup. - - move the red cup to the center with your right hand, lift the blue spoon with - your left hand and stir it three times in the cup, put the spoon into the cup. - - move the red cup to the center with your left hand, lift the blue spoon with - your right hand and stir it three times in the cup, put the spoon into the cup. - - move the red cup to the center with your right hand, lift the pink spoon with - your left hand and stir it three times in the cup, put the spoon into the cup. - - move the red cup to the center with your left hand, lift the pink spoon with - your right hand and stir it three times in the cup, put the spoon into the cup. - scene_type: - - home - - office - - cafe - atomic_actions: - - grasp - - take - - put - - move - - stir - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: tableware - level2: cup - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: tablecloth - level1: clothing - level2: tablecloth - level3: null - level4: null - level5: null - device_model: - - realman rmc-aida-l - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 767 - total_frames: 555807 - total_tasks: 8 - total_videos: 2301 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:766 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml index 14a45134d3f849f39d78742da551d16910a66ec6..f1aa7caa808b305302ee98812d6fb28993178153 100644 --- a/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml +++ b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml @@ -1,14 +1,14 @@ +path: RMC-AIDA-L_storage_bin_storage dataset_name: storage_bin_storage -dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the orange block in the storage box with left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: RMC-AIDA-L_storage_bin_storage -video_url: ./assets/videos/RMC-AIDA-L_storage_bin_storage.mp4 -thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_storage_bin_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-914776 dataset_size: 15.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Realman_RMC-AIDA-L -codebase_version: v2.1 statistics: total_episodes: 302 total_frames: 914776 @@ -77,282 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:301 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the teacup on the table and place it into the storage bin, pick up - the block on the table and place it into the storage bin. +dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the orange block in the storage box with left gripper - Place the white block in the storage box with left gripper @@ -398,145 +96,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -555,382 +166,3 @@ structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 61 - dataset_name: storage_bin_storage - dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 - device_model: Realman_RMC-AIDA-L - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/storage_bin_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_storage_bin_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: storage_bin_storage - dataset_uuid: null - task_descriptions: - - pick up the teacup on the table and place it into the storage bin, pick up the - block on the table and place it into the storage bin. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: teacup - level1: container - level2: teacup - level3: null - level4: null - level5: null - - object_name: block - level1: toy - level2: block - level3: null - level4: null - level5: null - - object_name: storage_bin - level1: container - level2: storage_bin - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - realman_rmc_aidal - end_effector_type: two_finger_gripper - meta: - robot_type: realman_rmc_aidal - codebase_version: v2.1 - statistics: - total_episodes: 302 - total_frames: 914776 - total_tasks: 1 - total_videos: 906 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:301 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 28 - names: - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_banana.yaml b/dataset_info/Split_aloha_basket_storage_banana.yaml index 6bf14a323acad23124380ae74fb1acf5375a54b7..da34343f429290fdebdb9d1289042d1d3e88284b 100644 --- a/dataset_info/Split_aloha_basket_storage_banana.yaml +++ b/dataset_info/Split_aloha_basket_storage_banana.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_banana dataset_name: basket_storage_banana -dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_banana -video_url: ./assets/videos/Split_aloha_basket_storage_banana.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_banana.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-164327 dataset_size: 2.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 368 total_frames: 164327 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:367 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the banana and put it into the basket. +dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Place the banana in the basket with right gripper @@ -360,141 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -513,372 +132,3 @@ structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 172 - dataset_name: basket_storage_banana - dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_banana/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_banana - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_banana - dataset_uuid: null - task_descriptions: - - pick up the banana and put it into the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: banana - level1: fruit - level2: banana - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 368 - total_frames: 164327 - total_tasks: 1 - total_videos: 1104 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:367 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_bread.yaml b/dataset_info/Split_aloha_basket_storage_bread.yaml index ae7f60e0af392a588dd27d7ae8aaecd10c60e48a..5634d0a479ceaab4c924dbb5e71f55840d779f7b 100644 --- a/dataset_info/Split_aloha_basket_storage_bread.yaml +++ b/dataset_info/Split_aloha_basket_storage_bread.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_bread dataset_name: basket_storage_bread -dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: abnormal objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_bread -video_url: ./assets/videos/Split_aloha_basket_storage_bread.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-211779 dataset_size: 4.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 497 total_frames: 211779 @@ -72,287 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:496 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'One hand grasps the yellow basket and places it in the middle of the table, - while the other hand picks up the long bread and puts it into the yellow basket. - - One hand grasps the black basket and places it in the middle of the table, while - the other hand picks up the long bread and puts it into the black basket. - - One hand grasps the black basket and places it in the middle of the table, while - the other hand picks up the long bread and puts it into the black basket. - - One hand grasps the yellow basket and places it in the middle of the table, while - the other hand picks up the long bread and puts it into the yellow basket.' +dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - abnormal - Pick up the bread @@ -367,141 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -520,379 +129,3 @@ structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 184 - dataset_name: basket_storage_bread - dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_bread - dataset_uuid: null - task_descriptions: - - the left hand grasp the black basket and placed it in the middle of the table, - the right hand pick up the long bread and put it into the black basket. - - the right hand grasp the black basket and placed it in the middle of the table, - the left hand pick up the long bread and put it into the black basket. - - the left hand grasp the yellow basket and placed it in the middle of the table, - the right hand pick up the long bread and put it into the yellow basket. - - the right hand grasp the yellow basket and placed it in the middle of the table, - the left hand pick up the long bread and put it into the yellow basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 497 - total_frames: 211779 - total_tasks: 4 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:496 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml index aba59e4d730561c0680e6415e3e84960f7a577fa..d549eb0d4b1b30b9f594764ca18f50f004ff972b 100644 --- a/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml +++ b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_egg_yolk_pastry dataset_name: basket_storage_egg_yolk_pastry -dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the basket with left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_egg_yolk_pastry -video_url: ./assets/videos/Split_aloha_basket_storage_egg_yolk_pastry.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_egg_yolk_pastry.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-254419 dataset_size: 6.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 629 total_frames: 254419 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:628 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the egg yolk pastry and put it into the basket. +dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the basket with left gripper - Static @@ -360,141 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -513,373 +132,3 @@ structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 171 - dataset_name: basket_storage_egg_yolk_pastry - dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_egg_yolk_pastry/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_egg_yolk_pastry - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_egg_yolk_pastry - dataset_uuid: null - task_descriptions: - - pick up the egg yolk pastry and put it into the basket. - - put the basket in the center of the table. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: egg_yolk_pastry - level1: food - level2: egg_yolk_pastry - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 629 - total_frames: 254419 - total_tasks: 1 - total_videos: 1887 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:628 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_long_bread.yaml b/dataset_info/Split_aloha_basket_storage_long_bread.yaml index b721aa6aef0dc4dd17347a2b4c43c89ee936d6cf..02f33374066e4fe6955b5e3d58978c675f2c79b4 100644 --- a/dataset_info/Split_aloha_basket_storage_long_bread.yaml +++ b/dataset_info/Split_aloha_basket_storage_long_bread.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_long_bread dataset_name: basket_storage_long_bread -dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the long bread with right gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_long_bread -video_url: ./assets/videos/Split_aloha_basket_storage_long_bread.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_long_bread.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-129236 dataset_size: 3.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 311 total_frames: 129236 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:310 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the long bread and put it into the basket. +dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the long bread with right gripper - Grasp the basket with the left gripper @@ -360,141 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -513,372 +132,3 @@ structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── anno \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 177 - dataset_name: basket_storage_long_bread - dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_long_bread/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_long_bread - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_long_bread - dataset_uuid: null - task_descriptions: - - pick up the long bread and put it into the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: long_bread - level1: food - level2: long_bread - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 311 - total_frames: 129236 - total_tasks: 1 - total_videos: 933 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:310 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_orange.yaml b/dataset_info/Split_aloha_basket_storage_orange.yaml index 54f0a15c4fcdec88542505ff878b0b7318e60fea..211f16990c606a983d494112a3619d0ae6ee218d 100644 --- a/dataset_info/Split_aloha_basket_storage_orange.yaml +++ b/dataset_info/Split_aloha_basket_storage_orange.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_orange dataset_name: basket_storage_orange -dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the basket in the center of view with left gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_orange -video_url: ./assets/videos/Split_aloha_basket_storage_orange.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_orange.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-293847 dataset_size: 6.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 642 total_frames: 293847 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:641 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the orange and put it into the basket. +dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the basket in the center of view with left gripper - Place the orange in the basket with right gripper @@ -360,141 +62,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -513,373 +132,3 @@ structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 173 - dataset_name: basket_storage_orange - dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_orange/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_orange - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_orange - dataset_uuid: null - task_descriptions: - - pick up the orange and put it into the basket. - - put the basket in the center of the table - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: orange - level1: fruit - level2: orange - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 642 - total_frames: 293847 - total_tasks: 1 - total_videos: 1926 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:641 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_peach.yaml b/dataset_info/Split_aloha_basket_storage_peach.yaml index 01721fb3094c0308887133b8aa0b7e2b15c5dd37..af4445fb6afad12fa6008b76ac1576b27761ae3a 100644 --- a/dataset_info/Split_aloha_basket_storage_peach.yaml +++ b/dataset_info/Split_aloha_basket_storage_peach.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_basket_storage_peach dataset_name: basket_storage_peach -dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick up the peach objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_basket_storage_peach -video_url: ./assets/videos/Split_aloha_basket_storage_peach.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_peach.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-392136 dataset_size: 5.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 994 total_frames: 392136 @@ -72,277 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:993 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the peach and put it into the basket. +dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the peach - Place the peach in the basket with right gripper @@ -363,141 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -516,372 +135,3 @@ structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotatio \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 168 - dataset_name: basket_storage_peach - dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_peach/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_peach - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: basket_storage_peach - dataset_uuid: null - task_descriptions: - - pick up the peach and put it into the basket. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: peach - level1: fruit - level2: peach - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 994 - total_frames: 392136 - total_tasks: 1 - total_videos: 2982 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:993 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_fold_the_pants.yaml b/dataset_info/Split_aloha_fold_the_pants.yaml index c9cdb55374a8887759dd222116f1b94c7d29f02f..c18464b52d5dab9dc49c0732985f1743458c2c75 100644 --- a/dataset_info/Split_aloha_fold_the_pants.yaml +++ b/dataset_info/Split_aloha_fold_the_pants.yaml @@ -1,13 +1,13 @@ +path: Split_aloha_fold_the_pants dataset_name: fold_the_pants -dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - fold -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Fold the bottom of the pants upward objects: - object_name: table level1: furniture @@ -21,41 +21,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_fold_the_pants -video_url: ./assets/videos/Split_aloha_fold_the_pants.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_fold_the_pants.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-402577 dataset_size: 8.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 486 total_frames: 402577 @@ -64,295 +32,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:485 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the pants are placed with the back facing upwards, the cuffs facing to the - left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold - it forward, the left gripper lift the folded cuffs and fold them against the leg, - adjust the position of the pants to the center of the table. - - the pants are placed with the back facing upwards, the cuffs facing to the right, - the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, - the right gripper lift the folded cuffs and fold them against the leg, adjust the - position of the pants to the center of the table. - - the pants are placed with the front facing upwards, the cuffs facing to the left, - the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, - the left gripper lift the folded cuffs and fold them against the leg, adjust the - position of the pants to the center of the table. - - the pants are placed with the front facing upwards, the cuffs facing to the right, - the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, - the right gripper lift the folded cuffs and fold them against the leg, adjust the - position of the pants to the center of the table.' +dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Fold the bottom of the pants upward - Fold the pants from left to right @@ -366,141 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -518,379 +120,3 @@ structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 166 - dataset_name: fold_the_pants - dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/fold_pants/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_fold_the_pants - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: fold_the_pants - dataset_uuid: null - task_descriptions: - - the pants are placed with the back facing upwards, the cuffs facing to the left, - the left gripper grasp the cuffs, the right gripper grasp the leg and fold it - forward, the left gripper lift the folded cuffs and fold them against the leg, - adjust the position of the pants to the center of the table. - - the pants are placed with the back facing upwards, the cuffs facing to the right, - the right gripper grasp the cuffs, the left gripper grasp the leg and fold it - forward, the right gripper lift the folded cuffs and fold them against the leg, - adjust the position of the pants to the center of the table. - - the pants are placed with the front facing upwards, the cuffs facing to the - left, the left gripper grasp the cuffs, the right gripper grasp the leg and - fold it forward, the left gripper lift the folded cuffs and fold them against - the leg, adjust the position of the pants to the center of the table. - - the pants are placed with the front facing upwards, the cuffs facing to the - right, the right gripper grasp the cuffs, the left gripper grasp the leg and - fold it forward, the right gripper lift the folded cuffs and fold them against - the leg, adjust the position of the pants to the center of the table. - scene_type: - - home - atomic_actions: - - grasp - - fold - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: pants - level1: clothing - level2: pants - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 486 - total_frames: 402577 - total_tasks: 4 - total_videos: 1458 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:485 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_plate_storage.yaml b/dataset_info/Split_aloha_plate_storage.yaml index 193c03c28d40aa91c86598415f47ee2404237b1b..d0fb00757e6225e53b06919fe1a63c2e2c8fc4dd 100644 --- a/dataset_info/Split_aloha_plate_storage.yaml +++ b/dataset_info/Split_aloha_plate_storage.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_plate_storage dataset_name: plate_storage -dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pass the plate from the left gripper to the right gripper objects: - object_name: table level1: furniture @@ -29,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_plate_storage -video_url: ./assets/videos/Split_aloha_plate_storage.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_plate_storage.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-229687 dataset_size: 2.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 499 total_frames: 229687 @@ -72,289 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:498 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'put the plate on the plate rack. - - the left gripper grasp the green plate, the left gripper pass the green plate to - the right gripper, and the right gripper place the green plate on the plate rack. - - the right gripper grasp the green plate, the right gripper pass the green plate - to the left gripper, and the left gripper place the green plate on the plate rack. - - the left gripper grasp the pink plate, the left gripper pass the pink plate to the - right gripper, and the right gripper place the pink plate on the plate rack. - - the right gripper grasp the pink plate, the right gripper pass the pink plate to - the left gripper, and the left gripper place the pink plate on the plate rack.' +dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pass the plate from the left gripper to the right gripper - Place the plate on the shelf @@ -370,141 +60,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -522,384 +129,3 @@ structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 167 - dataset_name: plate_storage - dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/plate_storage/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_plate_storage - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: plate_storage - dataset_uuid: null - task_descriptions: - - put the plate on the plate rack. - - the left gripper grasp the green plate, the left gripper pass the green plate - to the right gripper, and the right gripper place the green plate on the plate - rack. - - the left gripper grasp the pink plate, the left gripper pass the pink plate - to the right gripper, and the right gripper place the pink plate on the plate - rack. - - the right gripper grasp the green plate, the right gripper pass the green plate - to the left gripper, and the left gripper place the green plate on the plate - rack. - - the right gripper grasp the pink plate, the right gripper pass the pink plate - to the left gripper, and the left gripper place the pink plate on the plate - rack. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: plate - level1: container - level2: plate - level3: null - level4: null - level5: null - - object_name: plate_rack - level1: furniture - level2: plate_rack - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 499 - total_frames: 229687 - total_tasks: 5 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:498 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_pour_rice.yaml b/dataset_info/Split_aloha_pour_rice.yaml index ba2741fea1f99e90484c14236d4662c24dae1edb..7c2b0eeb77f4cda80ba78adfb461c093ed2907f6 100644 --- a/dataset_info/Split_aloha_pour_rice.yaml +++ b/dataset_info/Split_aloha_pour_rice.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_pour_rice dataset_name: pour_rice -dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - place - pick - grasp - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the cup with rice in it with left gripper objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_pour_rice -video_url: ./assets/videos/Split_aloha_pour_rice.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_pour_rice.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-504182 dataset_size: 4.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 740 total_frames: 504182 @@ -79,278 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:739 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: the right gripper grasp the rice container and place it in the center of the - table, the left gripper grasp the rice scoop and pour the rice into the rice container. +dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the cup with rice in it with left gripper - Place the bowl in the center of view with the right gripper @@ -372,141 +73,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -524,380 +141,3 @@ structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 169 - dataset_name: pour_rice - dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/pour_rice/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_pour_rice - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_rice - dataset_uuid: null - task_descriptions: - - the right gripper grasp the rice container and place it in the center of the - table, the left gripper grasp the cup and pour the rice into the rice container. - scene_type: - - home - - kitchen - atomic_actions: - - place - - pick - - grasp - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: rice - level1: food - level2: rice - level3: null - level4: null - level5: null - - object_name: rice_container - level1: container - level2: rice_container - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 740 - total_frames: 504182 - total_tasks: 1 - total_videos: 2220 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:739 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_pour_tea.yaml b/dataset_info/Split_aloha_pour_tea.yaml index bd0196fe3652460bf411f2ec60bdf54ad847b5d8..34a4a6d69458d8efc83f9eec6fc0b8d33445a23c 100644 --- a/dataset_info/Split_aloha_pour_tea.yaml +++ b/dataset_info/Split_aloha_pour_tea.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_pour_tea dataset_name: pour_tea -dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f -scene_type: -- home -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - pour -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pick up the teacup with the left gripper objects: - object_name: table level1: furniture @@ -30,41 +29,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_pour_tea -video_url: ./assets/videos/Split_aloha_pour_tea.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_pour_tea.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1M-10M +operation_platform_height: 77.2 +frame_range: 0-1305706 dataset_size: 13.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 977 total_frames: 1305706 @@ -73,289 +40,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:976 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'pour tea into the teacup. - - grasp the brown teapot and pour the tea into the two brown teacups one by one, put - the brown teapot back in its original place. - - grasp the brown teapot and pour the tea into the two white teacups one by one, put - the brown teapot back in its original place. - - grasp the stainless steel teapot and pour the tea into the two stainless steel teacups - one by one, put the stainless steel teapot back in its original place. - - grasp the blue porcelain teapot and pour the tea into the two blue porcelain teacups - one by one, put the blue porcelain teapot back in its original place.' +dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the teacup with the left gripper - End @@ -383,141 +73,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -547,387 +165,3 @@ structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 165 - dataset_name: pour_tea - dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/pour_tea/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_pour_tea - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: pour_tea - dataset_uuid: null - task_descriptions: - - pour tea into the teacup. - - the left gripper grasp the teacup and place it in the center of the table, the - right gripper grasp the teapot and pour tea into the teacup, the right gripper - set down the teapot. - - the right gripper grasp the teacup and place it in the center of the table, - the left gripper grasp the teapot and pour tea into the teacup, the left gripper - set down the teapot. - - grasp the blue porcelain teapot and pour the tea into the two blue porcelain - teacups one by one, put the blue porcelain teapot back in its original place. - - grasp the brown teapot and pour the tea into the two brown teacups one by one, - put the brown teapot back in its original place. - - grasp the brown teapot and pour the tea into the two white teacups one by one, - put the brown teapot back in its original place. - - grasp the stainless steel teapot and pour the tea into the two stainless steel - teacups one by one, put the stainless steel teapot back in its original place. - scene_type: - - home - - office - atomic_actions: - - grasp - - place - - pick - - pour - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: teacup - level1: container - level2: teacup - level3: null - level4: null - level5: null - - object_name: teapot - level1: container - level2: teapot - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 977 - total_frames: 1305706 - total_tasks: 5 - total_videos: 2931 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:976 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_scoop_coffee_beans.yaml b/dataset_info/Split_aloha_scoop_coffee_beans.yaml index fb0528dbd39adbc761a8639ee22daee76c2e0d12..722a236e6c3cd4858d0075bd24183114162ca738 100644 --- a/dataset_info/Split_aloha_scoop_coffee_beans.yaml +++ b/dataset_info/Split_aloha_scoop_coffee_beans.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_scoop_coffee_beans dataset_name: scoop_coffee_beans -dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e -scene_type: -- home -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - scoop - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Place the spoon back in its original place objects: - object_name: table level1: furniture @@ -42,41 +41,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_scoop_coffee_beans -video_url: ./assets/videos/Split_aloha_scoop_coffee_beans.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_scoop_coffee_beans.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-409440 dataset_size: 3.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 499 total_frames: 409440 @@ -85,322 +52,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:498 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the right gripper place the grey cup in the center of the table, the left - gripper take the pink spoon from the cup lid and scoop out the coffee beans from - the coffee cup and put them into the grey cup, the left gripper put the spoon back - into the cup lid. - - the right gripper place the red cup in the center of the table, the left gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the red cup, the left gripper put the spoon back into the - cup lid. - - the right gripper place the red cup in the center of the table, the left gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the red cup, the left gripper put the spoon back into the - cup lid. - - the left gripper place the red cup in the center of the table, the right gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the red cup, the right gripper put the spoon back into the - cup lid. - - the left gripper place the red cup in the center of the table, the right gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the red cup, the right gripper put the spoon back into the - cup lid. - - the left gripper place the grey cup in the center of the table, the right gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the grey cup, the right gripper put the spoon back into the - cup lid. - - the left gripper place the grey cup in the center of the table, the right gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the grey cup, the right gripper put the spoon back into the - cup lid. - - the right gripper place the grey cup in the center of the table, the left gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the coffee - cup and put them into the grey cup, the left gripper put the spoon back into the - cup lid.' +dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the spoon back in its original place - Move the cup to the center of view @@ -416,141 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -569,423 +143,3 @@ structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 174 - dataset_name: scoop_coffee_beans - dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/scoop_coffee_beans/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_scoop_coffee_beans - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: scoop_coffee_beans - dataset_uuid: null - task_descriptions: - - the left gripper place the grey cup in the center of the table, the right gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the grey cup, the right gripper put the spoon back - into the cup lid. - - the left gripper place the grey cup in the center of the table, the right gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the grey cup, the right gripper put the spoon back - into the cup lid. - - the right gripper place the grey cup in the center of the table, the left gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the grey cup, the left gripper put the spoon back - into the cup lid. - - the right gripper place the grey cup in the center of the table, the left gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the grey cup, the left gripper put the spoon back - into the cup lid. - - the left gripper place the red cup in the center of the table, the right gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the red cup, the right gripper put the spoon back - into the cup lid. - - the left gripper place the red cup in the center of the table, the right gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the red cup, the right gripper put the spoon back - into the cup lid. - - the right gripper place the red cup in the center of the table, the left gripper - take the blue spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the red cup, the left gripper put the spoon back - into the cup lid. - - the right gripper place the red cup in the center of the table, the left gripper - take the pink spoon from the cup lid and scoop out the coffee beans from the - coffee cup and put them into the red cup, the left gripper put the spoon back - into the cup lid. - scene_type: - - home - - office - atomic_actions: - - scoop - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: cup_lid - level1: container - level2: cup_lid - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: coffee_beans - level1: food - level2: coffee_beans - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 499 - total_frames: 409440 - total_tasks: 8 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:498 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_rot_x - - left_eef_rot_y - - left_eef_rot_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_rot_x - - right_eef_rot_y - - right_eef_rot_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - gripper_activity_action: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_stack_baskets.yaml b/dataset_info/Split_aloha_stack_baskets.yaml index be0eacf886bb71340b986d89597e1eac8a052598..44cf64c2cb002c737739359ecbf6ef75ab23c687 100644 --- a/dataset_info/Split_aloha_stack_baskets.yaml +++ b/dataset_info/Split_aloha_stack_baskets.yaml @@ -1,15 +1,14 @@ +path: Split_aloha_stack_baskets dataset_name: stack_baskets -dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_stack_baskets -video_url: ./assets/videos/Split_aloha_stack_baskets.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_stack_baskets.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-474590 dataset_size: 17.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 1066 total_frames: 474590 @@ -66,281 +33,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1065 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper grasp the black basket and place it in the center of the - table, the right gripper grasp the brown basket and place it inside the black one. - - the left gripper grasp the brown basket and place it in the center of the table, - the right gripper grasp the black basket and place it inside the brown one.' +dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the light basket with left gripper @@ -366,141 +64,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -530,369 +156,3 @@ structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 175 - dataset_name: stack_baskets - dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/stack_baskets/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_stack_baskets - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: stack_baskets - dataset_uuid: null - task_descriptions: - - the left gripper grasp the black basket and place it in the center of the table, - the right gripper grasp the brown basket and place it inside the black one. - - the left gripper grasp the brown basket and place it in the center of the table, - the right gripper grasp the black basket and place it inside the brown one. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: basket - level1: container - level2: basket - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 1066 - total_frames: 474590 - total_tasks: 2 - total_videos: 3198 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1065 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_stir_coffee.yaml b/dataset_info/Split_aloha_stir_coffee.yaml index 85beaac9eaa841625d58df9591dc0ec753ecf909..3afc8c111b0f5aa738ed5dafb3c876e6e6bbf6eb 100644 --- a/dataset_info/Split_aloha_stir_coffee.yaml +++ b/dataset_info/Split_aloha_stir_coffee.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_stir_coffee dataset_name: stir_coffee -dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d -scene_type: -- home -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - scoop - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: End objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_stir_coffee -video_url: ./assets/videos/Split_aloha_stir_coffee.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_stir_coffee.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-280886 dataset_size: 2.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 495 total_frames: 280886 @@ -79,307 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:494 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper place the grey cup towards the center of the table, the right - gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the - spoon back in its original position. - - the left gripper place the grey cup towards the center of the table, the right gripper - grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon - back in its original position. - - the left gripper place the red cup towards the center of the table, the right gripper - grasp the blue spoon, stir the coffee in the red cup three times, put the spoon - back in its original position. - - the left gripper place the red cup towards the center of the table, the right gripper - grasp the pink spoon, stir the coffee in the red cup three times, put the spoon - back in its original position. - - the right gripper place the grey cup towards the center of the table, the left gripper - grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon - back in its original position. - - the right gripper place the grey cup towards the center of the table, the left gripper - grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon - back in its original position. - - the right gripper place the red cup towards the center of the table, the left gripper - grasp the blue spoon, stir the coffee in the red cup three times, put the spoon - back in its original position. - - the right gripper place the red cup towards the center of the table, the left gripper - grasp the pink spoon, stir the coffee in the red cup three times, put the spoon - back in its original position.' +dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Grasp the spoon with right gripper @@ -401,141 +73,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -553,402 +141,3 @@ structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 170 - dataset_name: stir_coffee - dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/stir_coffee/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_stir_coffee - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: stir_coffee - dataset_uuid: null - task_descriptions: - - the left gripper place the grey cup towards the center of the table, the right - gripper grasp the blue spoon, stir the coffee in the grey cup three times, put - the spoon back in its original position. - - the left gripper place the grey cup towards the center of the table, the right - gripper grasp the pink spoon, stir the coffee in the grey cup three times, put - the spoon back in its original position. - - the left gripper place the red cup towards the center of the table, the right - gripper grasp the blue spoon, stir the coffee in the red cup three times, put - the spoon back in its original position. - - the left gripper place the red cup towards the center of the table, the right - gripper grasp the pink spoon, stir the coffee in the red cup three times, put - the spoon back in its original position. - - the right gripper place the grey cup towards the center of the table, the left - gripper grasp the blue spoon, stir the coffee in the grey cup three times, put - the spoon back in its original position. - - the right gripper place the grey cup towards the center of the table, the left - gripper grasp the pink spoon, stir the coffee in the grey cup three times, put - the spoon back in its original position. - - the right gripper place the red cup towards the center of the table, the left - gripper grasp the blue spoon, stir the coffee in the red cup three times, put - the spoon back in its original position. - - the right gripper place the red cup towards the center of the table, the left - gripper grasp the pink spoon, stir the coffee in the red cup three times, put - the spoon back in its original position. - scene_type: - - home - - office - atomic_actions: - - scoop - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: spoon - level1: tableware - level2: spoon - level3: null - level4: null - level5: null - - object_name: coffee - level1: drink - level2: coffee - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_magic_aloha - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 495 - total_frames: 280886 - total_tasks: 8 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:494 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_wipe_table.yaml b/dataset_info/Split_aloha_wipe_table.yaml index 80e383c29afb7ff5d935b3254a5ccb1ae42ae178..d6c80b157c96db2e25c5cc9091a50d8704227967 100644 --- a/dataset_info/Split_aloha_wipe_table.yaml +++ b/dataset_info/Split_aloha_wipe_table.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_wipe_table dataset_name: wipe_table -dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - wipe -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Grasp the rag with right gripper objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_wipe_table -video_url: ./assets/videos/Split_aloha_wipe_table.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_wipe_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-106804 dataset_size: 1.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 200 total_frames: 106804 @@ -79,279 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:199 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the black rag and wipe the stain on the table, the right gripper put the black - rag back in its original position. +dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the rag with right gripper - Abnormal @@ -370,141 +70,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -522,381 +138,3 @@ structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 182 - dataset_name: wipe_table - dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/wipe_table/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_wipe_table - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: wipe_table - dataset_uuid: null - task_descriptions: - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the black rag and wipe the stain on the table, the right gripper put the - black rag back in its original position. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - - wipe - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: rag - level1: clothing - level2: rag - level3: null - level4: null - level5: null - - object_name: stain - level1: garbage - level2: stain - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 200 - total_frames: 106804 - total_tasks: 1 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:199 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_wipe_the_table.yaml b/dataset_info/Split_aloha_wipe_the_table.yaml index 9a891b2df209c1c0be18f3ac3d35f62425f44f24..82b06d135ebc8939c0ce1ebea09871067fe47c6b 100644 --- a/dataset_info/Split_aloha_wipe_the_table.yaml +++ b/dataset_info/Split_aloha_wipe_the_table.yaml @@ -1,16 +1,15 @@ +path: Split_aloha_wipe_the_table dataset_name: wipe_the_table -dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 -scene_type: -- home -- kitchen +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - place - pick - wipe -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Stand the paper cup upright objects: - object_name: table level1: furniture @@ -36,41 +35,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_wipe_the_table -video_url: ./assets/videos/Split_aloha_wipe_the_table.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_wipe_the_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-166266 dataset_size: 1.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 302 total_frames: 166266 @@ -79,287 +46,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:301 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the purple rag and wipe the coffee stain on the table, the right gripper put - the purple rag back in its original position. - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the blue rag and wipe the tea stain on the table, the right gripper put the - blue rag back in its original position. - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the purple rag and wipe the tea stain on the table, the right gripper put - the purple rag back in its original position.' +dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Stand the paper cup upright - Wipe the stains off the table with a rag @@ -372,141 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -524,390 +133,3 @@ structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 190 - dataset_name: wipe_the_table - dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/wipe_the_table/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_wipe_the_table - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: wipe_the_table - dataset_uuid: null - task_descriptions: - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the blue rag and wipe the coffee stain on the table, the right gripper - put the blue rag back in its original position. - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the purple rag and wipe the coffee stain on the table, the right gripper - put the purple rag back in its original position. - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the blue rag and wipe the tea stain on the table, the right gripper put - the blue rag back in its original position. - - the left gripper pick up the fallen cup and place it upright, the right gripper - grasp the purple rag and wipe the tea stain on the table, the right gripper - put the purple rag back in its original position. - scene_type: - - home - - kitchen - atomic_actions: - - grasp - - place - - pick - - wipe - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - - object_name: rag - level1: clothing - level2: rag - level3: null - level4: null - level5: null - - object_name: stain - level1: garbage - level2: stain - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 302 - total_frames: 166266 - total_tasks: 3 - total_videos: 906 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:301 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Split_aloha_zip_up_the_document_bag.yaml b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml index 5890e87c3e8f41f08f564d3fdbd8aa79e9281cbc..50fb9e90eec1c96b315c946521ff790ef1f3a67a 100644 --- a/dataset_info/Split_aloha_zip_up_the_document_bag.yaml +++ b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml @@ -1,14 +1,15 @@ +path: Split_aloha_zip_up_the_document_bag dataset_name: zip_up_the_document_bag -dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae -scene_type: -- office +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pull - place -end_effector_type: -- two_finger_gripper -operation_platform_height: 77.2 +tasks: Pulling up the zipper on the transparent plastic bag with the left gripper + to close it objects: - object_name: table level1: furniture @@ -22,41 +23,9 @@ objects: level3: null level4: null level5: null -path: Split_aloha_zip_up_the_document_bag -video_url: ./assets/videos/Split_aloha_zip_up_the_document_bag.mp4 -thumbnail_url: ./assets/thumbnails/Split_aloha_zip_up_the_document_bag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: 77.2 +frame_range: 0-234815 dataset_size: 2.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Agilex_Split_Aloha -codebase_version: v2.1 statistics: total_episodes: 495 total_frames: 234815 @@ -65,287 +34,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:494 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: 'the left gripper grasp one corner of the bag, the right gripper pull the green - zipper, the left gripper put down the bag. - - the left gripper grasp one corner of the bag, the right gripper pull the red zipper, - the left gripper put down the bag. - - the right gripper grasp one corner of the bag, the left gripper pull the green zipper, - the right gripper put down the bag. - - the right gripper grasp one corner of the bag, the left gripper pull the red zipper, - the right gripper put down the bag.' +dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pulling up the zipper on the transparent plastic bag with the left gripper to close it @@ -365,141 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - resolution: - - 720 - - 1280 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -action_space: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -518,372 +129,3 @@ structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annota \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 179 - dataset_name: zip_up_the_document_bag - dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae - device_model: Agilex_Cobot_Magic - end_effector_type: two_finger_gripper - operation_platform_height: 77.2 - yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/zip_up_document_bag/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_zip_up_the_document_bag - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: zip_up_the_document_bag - dataset_uuid: null - task_descriptions: - - the left gripper grasp one corner of the bag, the right gripper pull the green - zipper, the left gripper put down the bag. - - the left gripper grasp one corner of the bag, the right gripper pull the red - zipper, the left gripper put down the bag. - - the right gripper grasp one corner of the bag, the left gripper pull the green - zipper, the right gripper put down the bag. - - the right gripper grasp one corner of the bag, the left gripper pull the red - zipper, the right gripper put down the bag. - scene_type: - - office - atomic_actions: - - grasp - - pull - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: document_bag - level1: office_supplies - level2: document_bag - level3: null - level4: null - level5: null - operation_platform_height: 77.2 - device_model: - - agilex_cobot_decoupled_magic - end_effector_type: two_finger_gripper - meta: - robot_type: agilex_cobot_decoupled_magic - codebase_version: v2.1 - statistics: - total_episodes: 495 - total_frames: 234815 - total_tasks: 4 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:494 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 720 - - 1280 - - 3 - names: - - height - - width - - channels - info: - video.height: 720 - video.width: 1280 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - action: - dtype: float32 - shape: - - 26 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_gripper_open - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_gripper_open - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Tianqin_A2_box_storage_part.yaml b/dataset_info/Tianqin_A2_box_storage_part.yaml index 05e4e568a951d76a757691d225ea589f5714e87c..b93de8b6429fa0256a42eae406e84db5b4341aa3 100644 --- a/dataset_info/Tianqin_A2_box_storage_part.yaml +++ b/dataset_info/Tianqin_A2_box_storage_part.yaml @@ -1,14 +1,14 @@ +path: Tianqin_A2_box_storage_part dataset_name: box_storage_part -dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Place the data cable in the another box objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: Tianqin_A2_box_storage_part -video_url: ./assets/videos/Tianqin_A2_box_storage_part.mp4 -thumbnail_url: ./assets/thumbnails/Tianqin_A2_box_storage_part.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-681531 dataset_size: 25.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Tianqing_A2 -codebase_version: v2.1 statistics: total_episodes: 1104 total_frames: 681531 @@ -71,259 +39,12 @@ statistics: total_chunks: 2 chunks_size: 1000 fps: 30 -splits: - train: 0:1103 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take the parts from the box containing them and put them into an empty box. +dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the data cable in the another box - Abnormal @@ -338,123 +59,69 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -484,375 +151,3 @@ structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 452 - dataset_name: box_storage_part - dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/15_配件小产线上料工序-放电源线场景3/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_box_storage_part - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: part - level1: tool - level2: part - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: Storage_data_cable - dataset_uuid: null - task_descriptions: - - Put the data cable from the box into another box. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: data_cable - level1: accessories - level2: data_cable - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2 - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 1104 - total_frames: 681531 - total_tasks: 1 - total_videos: 3312 - total_chunks: 2 - chunks_size: 1000 - fps: 30 - splits: - train: 0:1103 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml index 52f68232e40c3b23114d8ff33fb33a808dc20212..e5c0ca15d6fd1500cee150944b380fe4b5d932b5 100644 --- a/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml +++ b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml @@ -1,14 +1,14 @@ +path: Tianqin_A2_container_storage_graphics_card dataset_name: container_storage_graphics_card -dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Lift the bag objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: Tianqin_A2_container_storage_graphics_card -video_url: ./assets/videos/Tianqin_A2_container_storage_graphics_card.mp4 -thumbnail_url: ./assets/thumbnails/Tianqin_A2_container_storage_graphics_card.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-277206 dataset_size: 12.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Tianqing_A2 -codebase_version: v2.1 statistics: total_episodes: 280 total_frames: 277206 @@ -77,259 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:279 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: take out graphics card from box remove packaging put into black container. +dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Lift the bag - Take out the hard disk of the bag @@ -347,123 +68,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -482,387 +138,3 @@ structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 449 - dataset_name: container_storage_graphics_card - dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/14_备料工序-显卡备料场景1-2/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_container_storage_graphics_card - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - - object_name: graphics_card - level1: tool - level2: graphics_card - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: container_storage_graphics_card - dataset_uuid: null - task_descriptions: - - take out graphics card from box remove packaging put into black container. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: black_container - level1: container - level2: black_container - level3: null - level4: null - level5: null - - object_name: graphics_card - level1: tool - level2: graphics_card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - tianqing_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 280 - total_frames: 277206 - total_tasks: 1 - total_videos: 840 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:279 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/Tianqin_A2_place_the_paper_box.yaml b/dataset_info/Tianqin_A2_place_the_paper_box.yaml index c2ea3958aedafaaa7a1dd1097b12948a85d9ffc2..e2ea32a0e5fc87f19106669439f93524cf46be99 100644 --- a/dataset_info/Tianqin_A2_place_the_paper_box.yaml +++ b/dataset_info/Tianqin_A2_place_the_paper_box.yaml @@ -1,14 +1,14 @@ +path: Tianqin_A2_place_the_paper_box dataset_name: place_the_paper_box -dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: Tianqin_A2_place_the_paper_box -video_url: ./assets/videos/Tianqin_A2_place_the_paper_box.mp4 -thumbnail_url: ./assets/thumbnails/Tianqin_A2_place_the_paper_box.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-94841 dataset_size: 3.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Tianqing_A2 -codebase_version: v2.1 statistics: total_episodes: 236 total_frames: 94841 @@ -65,259 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:235 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: pick up the paper box and put it at the back. +dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Abnormal @@ -334,123 +55,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_high_rgb - name: cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_high_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -469,363 +125,3 @@ structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 453 - dataset_name: place_the_paper_box - dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac - device_model: ruantong_a2d - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/12_配件小产线上料工序-放纸盒场景2/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_place_the_paper_box - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: place_the_paper_box - dataset_uuid: null - task_descriptions: - - pick up the paper box and put it at the back. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - -operation_platform_height: null - device_model: - - ruantong_a2d - end_effector_type: two_finger_gripper - meta: - robot_type: ruantong_a2d - codebase_version: v2.1 - statistics: - total_episodes: 236 - total_frames: 94841 - total_tasks: 1 - total_videos: 708 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:235 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_high_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 17 - names: - - robot_joint_3_rad - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml index 8c5eec7af29153a8d52f96fe46ce056e632d73be..080ee2ad4a1cd98d81b88e3c0b3f397c3738e100 100644 --- a/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml +++ b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_carry_the_clothes_basket dataset_name: carry_the_clothes_basket -dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Move the basket above the other table objects: - object_name: clothes_basket level1: container @@ -16,41 +16,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_carry_the_clothes_basket -video_url: ./assets/videos/alpha_bot_2_carry_the_clothes_basket.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_carry_the_clothes_basket.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-46527 dataset_size: 2.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 50 total_frames: 46527 @@ -59,300 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:49 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: carry the clothes basket in coordination with both hands. +dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move the basket above the other table - Grasp the basket with both grippers @@ -371,167 +51,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -553,398 +127,3 @@ structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annot \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 578 - dataset_name: carry_the_clothes_basket - dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_113_10项采集任务-双手协同搬运衣篓/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_carry_the_clothes_basket - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: clothes_basket - level1: container - level2: clothes_basket - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: carry_the_clothes_basket - dataset_uuid: null - task_descriptions: - - carry the clothes basket in coordination with both hands. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: clothes_basket - level1: container - level2: clothes_basket - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 50 - total_frames: 46527 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:49 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_item_reversal.yaml b/dataset_info/alpha_bot_2_item_reversal.yaml index 4f158fa4c80ac6559fe30f26f079d67cf6ea8a16..53b640fd0a0ebfcf612f1fcd40326a71a66fb5ca 100644 --- a/dataset_info/alpha_bot_2_item_reversal.yaml +++ b/dataset_info/alpha_bot_2_item_reversal.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_item_reversal dataset_name: item_reversal -dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the cup with left gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_item_reversal -video_url: ./assets/videos/alpha_bot_2_item_reversal.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_item_reversal.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-82235 dataset_size: 2.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 90 total_frames: 82235 @@ -65,301 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:89 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: On the white table pick up the cup with one hand and transfer it to the other - hand before turning it over. +dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the cup with left gripper - Place the cup on the table with right gripper @@ -374,167 +53,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -555,405 +128,3 @@ structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 581 - dataset_name: item_reversal - dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_108_双手传递物品反转/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_item_reversal - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: kitchen_supplies - level2: cup - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: item_reversal - dataset_uuid: null - task_descriptions: - - on the white table pick up the cup wit your left hand and hand it to your right - hand then turn it over. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cup - level1: container - level2: cup - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 90 - total_frames: 82235 - total_tasks: 1 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:89 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_move_the_table.yaml b/dataset_info/alpha_bot_2_move_the_table.yaml index 71e95922127a94800e680adb6c9819f6f7e2899e..e55206946a3e6e63c1797a87580c2789dd325956 100644 --- a/dataset_info/alpha_bot_2_move_the_table.yaml +++ b/dataset_info/alpha_bot_2_move_the_table.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_move_the_table dataset_name: move_the_table -dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -16,41 +16,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_move_the_table -video_url: ./assets/videos/alpha_bot_2_move_the_table.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_move_the_table.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-50897 dataset_size: 1.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 72 total_frames: 50897 @@ -59,300 +27,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:71 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: human machine collaborative table moving. +dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Move the table forward with both grippers @@ -366,167 +46,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -547,392 +121,3 @@ structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 576 - dataset_name: move_the_table - dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_112_10项采集任务-人机协同搬运桌子/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_move_the_table - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: move_the_table - dataset_uuid: null - task_descriptions: - - human machine collaborative table moving. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 72 - total_frames: 50897 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:71 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml index 17743b9f5a44842c434775aae97c72dce75e0350..7a8fe76ec9a0406d7b4606588cd1a31a4ee5b1d1 100644 --- a/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml +++ b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_operate_the_microwave_oven dataset_name: operate_the_microwave_oven -dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - pullapart - pushtogether - turn -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Press the time button with right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_operate_the_microwave_oven -video_url: ./assets/videos/alpha_bot_2_operate_the_microwave_oven.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_operate_the_microwave_oven.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-16486 dataset_size: 395.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 16 total_frames: 16486 @@ -65,301 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:15 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: set the temperature of the microwave oven and turn it on. Open the door of - the microwave oven and then close it. +dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Press the time button with right gripper - Press the start button with right gripper @@ -375,167 +54,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -557,405 +130,3 @@ structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── ann \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 583 - dataset_name: operate_the_microwave_oven - dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/操作微波炉/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_operate_the_microwave_oven - scene_types: - - home - atomic_actions: - - pullapart - - pushtogether - - turn - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: microwave_oven - level1: kitchen_supplies - level2: microwave_oven - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: operate_the_microwave_oven - task_descriptions: - - set the temperature of the microwave oven and turn it on. Open the door of the - microwave oven and then close it. - scene_type: - - home - atomic_actions: - - pullapart - - pushtogether - - turn - objects: - - object_name: microwave_oven - level1: kitchenware - level2: microwave_oven - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - dataset_uuid: null - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 16 - total_frames: 16486 - total_tasks: 1 - total_videos: 64 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:15 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_pass_the_sandbag.yaml b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml index a61c24f1f3f6ad61f57ac2f41be9e3b9751abcdc..5fd4152f0f0b601715ac025d582578fb54bc99a9 100644 --- a/dataset_info/alpha_bot_2_pass_the_sandbag.yaml +++ b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_pass_the_sandbag dataset_name: pass_the_sandbag -dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Pass the paper ball to the right gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_pass_the_sandbag -video_url: ./assets/videos/alpha_bot_2_pass_the_sandbag.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_pass_the_sandbag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-69956 dataset_size: 2.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 86 total_frames: 69956 @@ -65,300 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:85 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: One hand took the sandbag from the other hand and placed it on the table. +dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pass the paper ball to the right gripper - End @@ -373,167 +53,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -555,404 +129,3 @@ structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 580 - dataset_name: pass_the_sandbag - dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_115_10项采集任务-双手传递沙包/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_pass_the_sandbag - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: sandbag - level1: toy - level2: sandbag - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: pass_the_sandbag - dataset_uuid: null - task_descriptions: - - the right hand took the sandbag from the left hand and placed it on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: sandbag - level1: toy - level2: sandbag - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 86 - total_frames: 69956 - total_tasks: 1 - total_videos: 344 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:85 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_press_the_button_a.yaml b/dataset_info/alpha_bot_2_press_the_button_a.yaml index 68693a7a6d03d4f9b9242bfb16b66f1044c3b67b..dbbb29d183b363e89e57bef2b6683b004c53034f 100644 --- a/dataset_info/alpha_bot_2_press_the_button_a.yaml +++ b/dataset_info/alpha_bot_2_press_the_button_a.yaml @@ -1,12 +1,12 @@ +path: alpha_bot_2_press_the_button_a dataset_name: press_the_button_a -dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a -scene_type: -- home -atomic_actions: -- pressbutton +robot_type: '' end_effector_type: - two_finger_gripper -operation_platform_height: null +scene_type: [] +atomic_actions: +- pressbutton +tasks: End objects: - object_name: table level1: furniture @@ -26,41 +26,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_press_the_button_a -video_url: ./assets/videos/alpha_bot_2_press_the_button_a.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_press_the_button_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-91452 dataset_size: 1.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 116 total_frames: 91452 @@ -69,300 +37,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:115 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: after avoiding the water bottle on the table, press the button. +dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Press the button blocked by the bottle with right gripper @@ -375,167 +55,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -557,412 +131,3 @@ structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 579 - dataset_name: press_the_button_a - dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/遇到障碍物主动躲避/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_press_the_button_a - scene_types: - - home - atomic_actions: - - pressbutton - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: button - level1: toy - level2: button - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: beverages - level2: water_bottle - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: press_the_button_a - task_descriptions: - - after avoiding the water bottle on the table, press the button. - scene_type: - - home - atomic_actions: - - pressbutton - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: water_bottle - level1: container - level2: water_bottle - level3: null - level4: null - level5: null - - object_name: button - level1: toy - level2: button - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - dataset_uuid: null - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 116 - total_frames: 91452 - total_tasks: 1 - total_videos: 464 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:115 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_press_the_button_b.yaml b/dataset_info/alpha_bot_2_press_the_button_b.yaml index 81d63aaa13b59d86db7e3d46d92c7beb8683f600..5bdd40c96b20942024aa2071f2bea96ff26015f5 100644 --- a/dataset_info/alpha_bot_2_press_the_button_b.yaml +++ b/dataset_info/alpha_bot_2_press_the_button_b.yaml @@ -1,13 +1,13 @@ +path: alpha_bot_2_press_the_button_b dataset_name: press_the_button_b -dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - pressbutton - push -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Touch the bottle with left gripper objects: - object_name: mineral_water level1: drinks @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_press_the_button_b -video_url: ./assets/videos/alpha_bot_2_press_the_button_b.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_press_the_button_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-50921 dataset_size: 943.7MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 65 total_frames: 50921 @@ -70,300 +38,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:64 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: after removing the water bottle from the table, press the button. +dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Touch the bottle with left gripper - End @@ -379,167 +59,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -561,393 +135,3 @@ structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 1052 - dataset_name: press_the_button_b - dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/主动移除障碍物后继续作业/task_110_主动移除障碍物后继续作业-补采-1103/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_press_the_button_b - scene_types: [] - atomic_actions: [] - objects: [] - total_episodes: null - yaml: - dataset_name: press_the_button_b - task_descriptions: - - after removing the water bottle from the table, press the button. - scene_type: - - home - atomic_actions: - - pressbutton - - push - objects: - - object_name: mineral_water - level1: drinks - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: button - level1: toy - level2: button - level3: null - level4: null - level5: null - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - alpha_bot_2 - end_effector_type: two_finger_gripper - dataset_uuid: null - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 65 - total_frames: 50921 - total_tasks: 1 - total_videos: 260 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:64 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml index 15425527a758bbee18cbc9b66512267359af77b9..1d2e2f58cf40f060dfc84a4448362d128e5bcba2 100644 --- a/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml +++ b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml @@ -1,13 +1,13 @@ +path: alpha_bot_2_recover_after_touching_an_obstacle dataset_name: recover_after_touching_an_obstacle -dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Touch the bottle with left gripper objects: - object_name: table level1: furniture @@ -27,41 +27,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_recover_after_touching_an_obstacle -video_url: ./assets/videos/alpha_bot_2_recover_after_touching_an_obstacle.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_recover_after_touching_an_obstacle.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-128391 dataset_size: 3.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 130 total_frames: 128391 @@ -70,301 +38,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:129 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: return to a safe position after touching an obstacle with your arm on the white - table. +dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Touch the bottle with left gripper - End @@ -378,167 +57,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -560,416 +133,3 @@ structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├ \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 577 - dataset_name: recover_after_touching_an_obstacle - dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/接触到障碍物快速恢复到安全位置/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_recover_after_touching_an_obstacle - scene_types: - - home - atomic_actions: - - grasp - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: drinks - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: button - level1: toy - level2: button - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: recover_after_touching_an_obstacle - task_descriptions: - - return to a safe position after touching an obstacle with your arm on the white - table. - scene_type: - - home - atomic_actions: - - pick - - grasp - - null - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: mineral_water - level1: drinks - level2: mineral_water - level3: null - level4: null - level5: null - - object_name: button - level1: toy - level2: button - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - dataset_uuid: null - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 130 - total_frames: 128391 - total_tasks: 1 - total_videos: 520 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:129 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_stack_building_blocks.yaml b/dataset_info/alpha_bot_2_stack_building_blocks.yaml index 9b998ea24ede83d247792fd5d207649fd7512363..b3ec7e0474feb34cd08671046a10f78ddc717260 100644 --- a/dataset_info/alpha_bot_2_stack_building_blocks.yaml +++ b/dataset_info/alpha_bot_2_stack_building_blocks.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_stack_building_blocks dataset_name: stack_building_blocks -dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: Grasp the blue building block with left gripper objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_stack_building_blocks -video_url: ./assets/videos/alpha_bot_2_stack_building_blocks.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_stack_building_blocks.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-130049 dataset_size: 3.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 139 total_frames: 130049 @@ -65,300 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:138 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: stack building blocks on the table. +dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the blue building block with left gripper - End @@ -385,167 +65,61 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│\ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -567,404 +141,3 @@ structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotati \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ \ (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 582 - dataset_name: stack_building_blocks - dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/堆叠积木/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_stack_building_blocks - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toys - level2: building_blocks - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: stack_building_blocks - dataset_uuid: null - task_descriptions: - - stack building blocks on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: building_blocks - level1: toy - level2: building_blocks - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 139 - total_frames: 130049 - total_tasks: 1 - total_videos: 556 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:138 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/alpha_bot_2_sticker.yaml b/dataset_info/alpha_bot_2_sticker.yaml index e20277afda83c72bb3aa237f77d28acacc753e3d..984f6ae65a7acb8e89dee2df4036c0b9fef9decc 100644 --- a/dataset_info/alpha_bot_2_sticker.yaml +++ b/dataset_info/alpha_bot_2_sticker.yaml @@ -1,14 +1,14 @@ +path: alpha_bot_2_sticker dataset_name: sticker -dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd -scene_type: -- home +robot_type: '' +end_effector_type: +- two_finger_gripper +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- two_finger_gripper -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -22,41 +22,9 @@ objects: level3: null level4: null level5: null -path: alpha_bot_2_sticker -video_url: ./assets/videos/alpha_bot_2_sticker.mp4 -thumbnail_url: ./assets/thumbnails/alpha_bot_2_sticker.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-97993 dataset_size: 1.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: AI2_Alphabot_2 -codebase_version: v2.1 statistics: total_episodes: 93 total_frames: 97993 @@ -65,300 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:92 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 -tasks: stick the poster on the table by hand. +dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Stick the advertisement in the top-right corner area with both grippers @@ -371,167 +51,60 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.cam_chest_rgb - name: cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_head_rgb - name: cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_left_wrist_rgb - name: cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -- key: observation.images.cam_right_wrist_rgb - name: cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - resolution: - - 480 - - 640 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.cam_chest_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_head_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_left_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - - key: observation.images.cam_right_wrist_rgb - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -action_space: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -552,404 +125,3 @@ structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 575 - dataset_name: sticker - dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd - device_model: alpha_bot_2 - end_effector_type: two_finger_gripper - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/贴条/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_sticker - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: poster - level1: toy - level2: poster - level3: null - level4: null - level5: null - total_episodes: 0 - yaml: - dataset_name: sticker - task_descriptions: - - stick the poster on the table by hand. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: poster - level1: toy - level2: poster - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - ai² aiphabot 2 - end_effector_type: two_finger_gripper - dataset_uuid: null - meta: - robot_type: alpha_bot_2 - codebase_version: v2.1 - statistics: - total_episodes: 93 - total_frames: 97993 - total_tasks: 1 - total_videos: 372 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:92 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.cam_chest_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_head_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_left_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.cam_right_wrist_rgb: - dtype: video - shape: - - 480 - - 640 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 640 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - action: - dtype: float32 - shape: - - 28 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - left_gripper_open - - right_gripper_open - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - gripper_open_scale_state: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_open_scale_action: - names: - - left_gripper_open_scale - - right_gripper_open_scale - dtype: float32 - shape: - - 2 - gripper_mode_state: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_mode_action: - names: - - left_gripper_mode - - right_gripper_mode - dtype: int32 - shape: - - 2 - gripper_activity_state: - names: - - left_gripper_activity - - right_gripper_activity - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel.yaml b/dataset_info/leju_robot_box_storage_parcel.yaml index 4f67bd0e2e6998bab0cff3b98bdeb022aa9894db..4af0715fc9fb916138fd06802c19bce5f1851e46 100644 --- a/dataset_info/leju_robot_box_storage_parcel.yaml +++ b/dataset_info/leju_robot_box_storage_parcel.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel dataset_name: box_storage_parcel -dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Grasp the package on the scanner with left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel -video_url: ./assets/videos/leju_robot_box_storage_parcel.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-537851 dataset_size: 27.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 443 total_frames: 537851 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:442 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the package on the scanner with left gripper - Abnormal @@ -455,261 +73,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -728,490 +143,3 @@ structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 371 - dataset_name: box_storage_parcel - dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/3C_factory/3C_factory_manufacturing/Scan_code_for_weighing/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_parcel - dataset_uuid: null - task_descriptions: - - moved the parcel from conveyor to table for the left to box. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 443 - total_frames: 537851 - total_tasks: 1 - total_videos: 1329 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:442 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_a.yaml b/dataset_info/leju_robot_box_storage_parcel_a.yaml index 2e5fc0707b55f355d5d4c55250b920a03fdcd8db..1c0ad751b28cb214a32f32b2549fe0761ad21b59 100644 --- a/dataset_info/leju_robot_box_storage_parcel_a.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_a.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_a dataset_name: box_storage_parcel_a -dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package into the parcel locker. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_a -video_url: ./assets/videos/leju_robot_box_storage_parcel_a.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-189545 dataset_size: 9.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 493 total_frames: 189545 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:492 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,491 +135,3 @@ structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 544 - dataset_name: box_storage_parcel_a - dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_parcel_a - dataset_uuid: null - task_descriptions: - - move the parcel with right hand from conveyor to table and then move the parcel - to the left box with left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 493 - total_frames: 189545 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:492 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_b.yaml b/dataset_info/leju_robot_box_storage_parcel_b.yaml index 35ca18e0e161ab320f4e1a1b4f3ff25a9e487a74..18d8e439384c411d89a9281221c2b812f67acfbe 100644 --- a/dataset_info/leju_robot_box_storage_parcel_b.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_b.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_b dataset_name: box_storage_parcel_b -dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package into the parcel locker. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_b -video_url: ./assets/videos/leju_robot_box_storage_parcel_b.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-186311 dataset_size: 9.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 497 total_frames: 186311 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:496 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,491 +135,3 @@ structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 542 - dataset_name: box_storage_parcel_b - dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_b - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_parcel_b - dataset_uuid: null - task_descriptions: - - move the parcel with right hand from conveyor to table and then move the parcel - to the left box with left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 497 - total_frames: 186311 - total_tasks: 1 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:496 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_c.yaml b/dataset_info/leju_robot_box_storage_parcel_c.yaml index bc7e16c16932f3fc156ddb2fabd98e98293b335e..12c7a31869286f09ac00f1e6abb5e79b711a3b2d 100644 --- a/dataset_info/leju_robot_box_storage_parcel_c.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_c.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_c dataset_name: box_storage_parcel_c -dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package onto the inbound machine. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_c -video_url: ./assets/videos/leju_robot_box_storage_parcel_c.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-187995 dataset_size: 9.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 493 total_frames: 187995 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:492 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Weigh the package on the weighing device and place it in the left basket. +dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package onto the inbound machine. - Place the package into the parcel locker. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,491 +135,3 @@ structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 545 - dataset_name: box_storage_parcel_c - dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_c - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: box_storage_parcel_c - dataset_uuid: null - task_descriptions: - - move the parcel with right hand from conveyor to table and then move the parcel - to the left box with left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 493 - total_frames: 187995 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:492 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_d.yaml b/dataset_info/leju_robot_box_storage_parcel_d.yaml index 76530a357eb18e3ca59059b24fb962b45fb1d3f1..8bca70ea3b1bf89186e422abcad49c291d5203bc 100644 --- a/dataset_info/leju_robot_box_storage_parcel_d.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_d.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_d dataset_name: box_storage_parcel_d -dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pass the laundry detergent to the left gripper objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_d -video_url: ./assets/videos/leju_robot_box_storage_parcel_d.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-288956 dataset_size: 18.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 212 total_frames: 288956 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:211 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pass the laundry detergent to the left gripper - Pick up the fast-moving consumer goods bottle from the table. @@ -450,261 +68,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -723,451 +138,3 @@ structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 551 - dataset_name: box_storage_parcel_d - dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_d/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_d - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 212 - total_frames: 288956 - total_tasks: 1 - total_videos: 636 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:211 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_f.yaml b/dataset_info/leju_robot_box_storage_parcel_f.yaml index 51a10b2fa41e9a1592d83c97616b36fde477e713..346d58af07cc206f6496df96a5319e437a911c87 100644 --- a/dataset_info/leju_robot_box_storage_parcel_f.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_f.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_f dataset_name: box_storage_parcel_f -dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package into the parcel locker. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_f -video_url: ./assets/videos/leju_robot_box_storage_parcel_f.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_f.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-185943 dataset_size: 9.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 497 total_frames: 185943 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:496 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,490 +135,3 @@ structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 550 - dataset_name: box_storage_parcel_f - dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_f/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_f - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_parcel_f - dataset_uuid: null - task_descriptions: - - moved the parcel from conveyor to table for the left to box. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 497 - total_frames: 185943 - total_tasks: 1 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:496 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_g.yaml b/dataset_info/leju_robot_box_storage_parcel_g.yaml index 3fbe909ed8992fd16e79dc435d48a0d679a94adc..ae34fa00b2323f8353c28feb32ccd31eb82f3fbe 100644 --- a/dataset_info/leju_robot_box_storage_parcel_g.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_g.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_g dataset_name: box_storage_parcel_g -dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package into the parcel locker. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_g -video_url: ./assets/videos/leju_robot_box_storage_parcel_g.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_g.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-182793 dataset_size: 9.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 492 total_frames: 182793 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:491 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,491 +135,3 @@ structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 547 - dataset_name: box_storage_parcel_g - dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_g/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_g - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: box_storage_parcel_g - dataset_uuid: null - task_descriptions: - - move the parcel with right hand from conveyor to table and then move the parcel - to the left box with left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 492 - total_frames: 182793 - total_tasks: 1 - total_videos: 1476 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:491 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_h.yaml b/dataset_info/leju_robot_box_storage_parcel_h.yaml index 67c162d541ebaf672de4bb7c2b89a7763d7878a1..0698fbfadb10df25921d60feda10f2e99962cef8 100644 --- a/dataset_info/leju_robot_box_storage_parcel_h.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_h.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_h dataset_name: box_storage_parcel_h -dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the package into the parcel locker. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_h -video_url: ./assets/videos/leju_robot_box_storage_parcel_h.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_h.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-149279 dataset_size: 7.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 389 total_frames: 149279 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:388 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -720,491 +135,3 @@ structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 548 - dataset_name: box_storage_parcel_h - dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_h/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_h - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: 395 - yaml: - dataset_name: box_storage_parcel_h - dataset_uuid: null - task_descriptions: - - move the parcel with right hand from conveyor to table and then move the parcel - to the left box with left hand. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 389 - total_frames: 149279 - total_tasks: 1 - total_videos: 1167 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:388 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_i.yaml b/dataset_info/leju_robot_box_storage_parcel_i.yaml index 7d9adce8e686269f6c3d85332f1148f25e91dbc4..1d5173fbb99e186d40a58cd08626db006c89a7c8 100644 --- a/dataset_info/leju_robot_box_storage_parcel_i.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_i.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_i dataset_name: box_storage_parcel_i -dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the bottle from the table. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_i -video_url: ./assets/videos/leju_robot_box_storage_parcel_i.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_i.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-313461 dataset_size: 19.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 222 total_frames: 313461 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:221 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the bottle on the table and put it into the conveyor belt. +dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the bottle from the table. - Flip the bottle to face forward. @@ -446,261 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -719,490 +134,3 @@ structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 553 - dataset_name: box_storage_parcel_i - dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_i/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_i - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: box_storage_parcel_i - dataset_uuid: null - task_descriptions: - - moved the parcel from conveyor to table for the left to box. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: tool - level2: conveyor_belt - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 222 - total_frames: 313461 - total_tasks: 1 - total_videos: 666 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:221 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_j.yaml b/dataset_info/leju_robot_box_storage_parcel_j.yaml index 700b82f1e044bf6edf800f1389ce247ea99da89f..64ac7555117f567641958698b296a77f896af7f6 100644 --- a/dataset_info/leju_robot_box_storage_parcel_j.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_j.yaml @@ -1,14 +1,14 @@ +path: leju_robot_box_storage_parcel_j dataset_name: box_storage_parcel_j -dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Take the fast-moving consumer goods bottle from the table. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_box_storage_parcel_j -video_url: ./assets/videos/leju_robot_box_storage_parcel_j.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_j.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-322063 dataset_size: 20.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 226 total_frames: 322063 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:225 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: moved the parcel from conveyor to table for the left to box. +dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Take the fast-moving consumer goods bottle from the table. - Pick up the fast-moving consumer goods bottle from the table. @@ -446,261 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ \ \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ @@ -719,479 +134,3 @@ structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotation \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 552 - dataset_name: box_storage_parcel_j - dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_j/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_j - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: parcel - level1: container - level2: parcel - level3: null - level4: null - level5: null - - object_name: conveyor_belt - level1: industrial_equipment - level2: conveyor_belt - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: pass_the_cleaner_h - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and pass it to left hand then put it on - the table. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_lb - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 226 - total_frames: 322063 - total_tasks: 1 - total_videos: 678 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:225 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_a.yaml b/dataset_info/leju_robot_hotel_services_a.yaml index 5fb454a73f6e5f7f79f737fdd6efa8f8bd6955b4..877468a7e0e776b418cc94ebb4a250180868f6be 100644 --- a/dataset_info/leju_robot_hotel_services_a.yaml +++ b/dataset_info/leju_robot_hotel_services_a.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_a dataset_name: hotel_services_a -dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_a -video_url: ./assets/videos/leju_robot_hotel_services_a.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-234607 dataset_size: 15.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 340 total_frames: 234607 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:339 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,491 +136,3 @@ structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 541 - dataset_name: hotel_services_a - dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_a - dataset_uuid: null - task_descriptions: - - take identity card and place it on card reader then give identity card and room - card to human. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: card_reader - level1: electronic_products - level2: card_reader - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 340 - total_frames: 234607 - total_tasks: 1 - total_videos: 1020 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:339 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_aa.yaml b/dataset_info/leju_robot_hotel_services_aa.yaml index d83efac8fe83dabf96148a44d261666e5503648d..460d1860620ee6f5b89988e5b430b468feee410e 100644 --- a/dataset_info/leju_robot_hotel_services_aa.yaml +++ b/dataset_info/leju_robot_hotel_services_aa.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_aa dataset_name: hotel_services_aa -dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_aa -video_url: ./assets/videos/leju_robot_hotel_services_aa.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_aa.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-70570 dataset_size: 4.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 419 total_frames: 70570 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:418 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Take out the room card with right gripper @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,490 +136,3 @@ structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 527 - dataset_name: hotel_services_aa - dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_aa/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_aa - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_aa - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 419 - total_frames: 70570 - total_tasks: 1 - total_videos: 1257 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:418 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ab.yaml b/dataset_info/leju_robot_hotel_services_ab.yaml index a50510203bfc120c6b5140862c9edb182bbcd0e3..da8c075b9b72a569fdc13a5f9423fd9d44504001 100644 --- a/dataset_info/leju_robot_hotel_services_ab.yaml +++ b/dataset_info/leju_robot_hotel_services_ab.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ab dataset_name: hotel_services_ab -dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ab -video_url: ./assets/videos/leju_robot_hotel_services_ab.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ab.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-81123 dataset_size: 5.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 450 total_frames: 81123 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:449 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Take out the room card with right gripper @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,490 +136,3 @@ structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 525 - dataset_name: hotel_services_ab - dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ab/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ab - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: hotel_services_ab - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 450 - total_frames: 81123 - total_tasks: 1 - total_videos: 1350 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:449 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ac.yaml b/dataset_info/leju_robot_hotel_services_ac.yaml index 2a48cd11ca499e43435542b0ff6b2570c4395b32..665e1e5ea1f0cf426791b1a209ebbb4e79ae29cb 100644 --- a/dataset_info/leju_robot_hotel_services_ac.yaml +++ b/dataset_info/leju_robot_hotel_services_ac.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ac dataset_name: hotel_services_ac -dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the key card from the card box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ac -video_url: ./assets/videos/leju_robot_hotel_services_ac.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ac.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-73697 dataset_size: 4.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 431 total_frames: 73697 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:430 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. @@ -446,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -719,490 +133,3 @@ structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 531 - dataset_name: hotel_services_ac - dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ac/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ac - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_ac - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 431 - total_frames: 73697 - total_tasks: 1 - total_videos: 1293 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:430 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ad.yaml b/dataset_info/leju_robot_hotel_services_ad.yaml index db45a175f31127ce997755887445eb699d2d9127..90a9f9eb0af6b1a4f19da0c56a15cc9bd998d10c 100644 --- a/dataset_info/leju_robot_hotel_services_ad.yaml +++ b/dataset_info/leju_robot_hotel_services_ad.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ad dataset_name: hotel_services_ad -dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ad -video_url: ./assets/videos/leju_robot_hotel_services_ad.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ad.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-73346 dataset_size: 4.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 430 total_frames: 73346 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:429 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Take out the room card with right gripper @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,490 +136,3 @@ structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 535 - dataset_name: hotel_services_ad - dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ad/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ad - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_ad - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 430 - total_frames: 73346 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:429 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ae.yaml b/dataset_info/leju_robot_hotel_services_ae.yaml index d7659159383f2c62e912ca499d6e695e214a1fb0..1ff367cc2f33a4f98df4f673f77c947e0142a2a7 100644 --- a/dataset_info/leju_robot_hotel_services_ae.yaml +++ b/dataset_info/leju_robot_hotel_services_ae.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ae dataset_name: hotel_services_ae -dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the key card from the card box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ae -video_url: ./assets/videos/leju_robot_hotel_services_ae.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ae.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-78394 dataset_size: 5.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 449 total_frames: 78394 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:448 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. @@ -446,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -719,490 +133,3 @@ structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 528 - dataset_name: hotel_services_ae - dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ae/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ae - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_ae - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 449 - total_frames: 78394 - total_tasks: 1 - total_videos: 1347 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:448 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_af.yaml b/dataset_info/leju_robot_hotel_services_af.yaml index 93cbd5ab6759d103b06988f99a534e4389fc8aa4..4339b6d0656b35e55d5bb66ce3a71462b31585e6 100644 --- a/dataset_info/leju_robot_hotel_services_af.yaml +++ b/dataset_info/leju_robot_hotel_services_af.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_af dataset_name: hotel_services_af -dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the key card from the card box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_af -video_url: ./assets/videos/leju_robot_hotel_services_af.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_af.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-77713 dataset_size: 4.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 437 total_frames: 77713 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:436 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. @@ -446,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -719,490 +133,3 @@ structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 530 - dataset_name: hotel_services_af - dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_af/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_af - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_af - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 437 - total_frames: 77713 - total_tasks: 1 - total_videos: 1311 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:436 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ag.yaml b/dataset_info/leju_robot_hotel_services_ag.yaml index 0d224b3b7b6d6241d1351077c08f9b2019558edc..54e9fe487e7be030e80eb15e6029f8cae334d40b 100644 --- a/dataset_info/leju_robot_hotel_services_ag.yaml +++ b/dataset_info/leju_robot_hotel_services_ag.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ag dataset_name: hotel_services_ag -dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the key card from the card box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ag -video_url: ./assets/videos/leju_robot_hotel_services_ag.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ag.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-72556 dataset_size: 4.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 428 total_frames: 72556 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:427 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. @@ -446,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -719,490 +133,3 @@ structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 532 - dataset_name: hotel_services_ag - dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ag/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ag - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_ag - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 428 - total_frames: 72556 - total_tasks: 1 - total_videos: 1284 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:427 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ah.yaml b/dataset_info/leju_robot_hotel_services_ah.yaml index e2ff483b4eb2feac0a001df4c9b6555e2d0c308a..f025ade48f7d81b9109f2108492d8720fdc20e6f 100644 --- a/dataset_info/leju_robot_hotel_services_ah.yaml +++ b/dataset_info/leju_robot_hotel_services_ah.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_ah dataset_name: hotel_services_ah -dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the key card from the card box. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_ah -video_url: ./assets/videos/leju_robot_hotel_services_ah.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ah.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 1K-10K +operation_platform_height: null +frame_range: 0-8145 dataset_size: 542.6MB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 44 total_frames: 8145 @@ -77,362 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:43 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the card and hand it to the target person. +dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -718,490 +133,3 @@ structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 533 - dataset_name: hotel_services_ah - dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ah/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ah - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 51 - yaml: - dataset_name: hotel_services_ah - dataset_uuid: null - task_descriptions: - - take out the card place it on the sensor for recognition and then transfer it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 44 - total_frames: 8145 - total_tasks: 1 - total_videos: 132 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:43 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_b.yaml b/dataset_info/leju_robot_hotel_services_b.yaml index fa5eca4a8fd045c54c96909526dbe1c9902bff5e..2fcd35667f904a08bcd19a88c16fc254caa0b03c 100644 --- a/dataset_info/leju_robot_hotel_services_b.yaml +++ b/dataset_info/leju_robot_hotel_services_b.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_b dataset_name: hotel_services_b -dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_b -video_url: ./assets/videos/leju_robot_hotel_services_b.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-209703 dataset_size: 14.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 288 total_frames: 209703 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:287 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,491 +136,3 @@ structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 538 - dataset_name: hotel_services_b - dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_b - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_b - dataset_uuid: null - task_descriptions: - - take identity card and place it on card reader then give identity card and room - card to human. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: card_reader - level1: electronic_products - level2: card_reader - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 288 - total_frames: 209703 - total_tasks: 1 - total_videos: 864 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:287 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_c.yaml b/dataset_info/leju_robot_hotel_services_c.yaml index f5ed20d13ac58d3ff7c9653cd4748158491b037e..e77d549c20f530c19159b6f6533be0131e85e823 100644 --- a/dataset_info/leju_robot_hotel_services_c.yaml +++ b/dataset_info/leju_robot_hotel_services_c.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_c dataset_name: hotel_services_c -dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_c -video_url: ./assets/videos/leju_robot_hotel_services_c.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-235148 dataset_size: 15.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 334 total_frames: 235148 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:333 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,491 +136,3 @@ structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 540 - dataset_name: hotel_services_c - dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_c - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_c - dataset_uuid: null - task_descriptions: - - take identity card and place it on card reader then give identity card and room - card to human. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: card reader - level1: electronic_products - level2: card reader - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 334 - total_frames: 235148 - total_tasks: 1 - total_videos: 1002 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:333 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_d.yaml b/dataset_info/leju_robot_hotel_services_d.yaml index 57a1d5dd07a44941162572e8d205bb893a0278d4..6427d579f68d5fcf6d8db3ffbaebfb43ad8ee4a7 100644 --- a/dataset_info/leju_robot_hotel_services_d.yaml +++ b/dataset_info/leju_robot_hotel_services_d.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_d dataset_name: hotel_services_d -dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_d -video_url: ./assets/videos/leju_robot_hotel_services_d.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-224505 dataset_size: 15.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 324 total_frames: 224505 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:323 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,491 +136,3 @@ structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 539 - dataset_name: hotel_services_d - dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_d/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_d - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: hotel_services_d - dataset_uuid: null - task_descriptions: - - take identity card and place it on card reader then give identity card and room - card to human. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: card_reader - level1: electronic_products - level2: card_reader - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 324 - total_frames: 224505 - total_tasks: 1 - total_videos: 972 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:323 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_e.yaml b/dataset_info/leju_robot_hotel_services_e.yaml index cd85c61914cfad4223861e3531cba68c46751c0b..dc54b50b23223bb711f9d422bfcd3b52ab8b86e0 100644 --- a/dataset_info/leju_robot_hotel_services_e.yaml +++ b/dataset_info/leju_robot_hotel_services_e.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_e dataset_name: hotel_services_e -dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_e -video_url: ./assets/videos/leju_robot_hotel_services_e.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-212885 dataset_size: 14.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 309 total_frames: 212885 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:308 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,451 +136,3 @@ structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 549 - dataset_name: hotel_services_e - dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_e/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_e - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 309 - total_frames: 212885 - total_tasks: 1 - total_videos: 927 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:308 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_f.yaml b/dataset_info/leju_robot_hotel_services_f.yaml index 188af81fd7748a883b1689ddce7ef74482eaaa43..018b91a3fd025d7717ed0b5bf206f41ed59c4523 100644 --- a/dataset_info/leju_robot_hotel_services_f.yaml +++ b/dataset_info/leju_robot_hotel_services_f.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_f dataset_name: hotel_services_f -dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the room key to the person. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_f -video_url: ./assets/videos/leju_robot_hotel_services_f.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_f.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-95863 dataset_size: 6.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 135 total_frames: 95863 @@ -77,363 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:134 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -449,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -722,491 +136,3 @@ structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 543 - dataset_name: hotel_services_f - dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_f/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_f - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 240 - yaml: - dataset_name: hotel_services_f - dataset_uuid: null - task_descriptions: - - take identity card and place it on card reader then give identity card and room - card to human. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: card_reader - level1: electronic_products - level2: card_reader - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 135 - total_frames: 95863 - total_tasks: 1 - total_videos: 405 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:134 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_h.yaml b/dataset_info/leju_robot_hotel_services_h.yaml index 173a132abb1c846443eed1f843b84e5fe0c879fc..5119c2516fd5578f493f5edddf99ae0995e53022 100644 --- a/dataset_info/leju_robot_hotel_services_h.yaml +++ b/dataset_info/leju_robot_hotel_services_h.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_h dataset_name: hotel_services_h -dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Hand the key card to the target. objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_h -video_url: ./assets/videos/leju_robot_hotel_services_h.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_h.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-35880 dataset_size: 2.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 205 total_frames: 35880 @@ -77,298 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:204 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: Pick up the card and hand it over to the target person. +dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Hand the key card to the target. - Pick up the key card from the card box. @@ -381,197 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -590,426 +133,3 @@ structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 536 - dataset_name: hotel_services_h - dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_a/hotel_services_h/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_h - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: hotel_services_h - dataset_uuid: null - task_descriptions: - - take out the card place it on the sensor for recognition and then transfer it. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 205 - total_frames: 35880 - total_tasks: 1 - total_videos: 615 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:204 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_i.yaml b/dataset_info/leju_robot_hotel_services_i.yaml index feb62cd2fb6d4f40117489cf04131dd50b35d5de..750db2ac045c6a3c02f3d09c51b99c22c0907064 100644 --- a/dataset_info/leju_robot_hotel_services_i.yaml +++ b/dataset_info/leju_robot_hotel_services_i.yaml @@ -1,14 +1,14 @@ +path: leju_robot_hotel_services_i dataset_name: hotel_services_i -dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: End objects: - object_name: table level1: furniture @@ -34,41 +34,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_hotel_services_i -video_url: ./assets/videos/leju_robot_hotel_services_i.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_i.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 10K-100K +operation_platform_height: null +frame_range: 0-33547 dataset_size: 2.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 189 total_frames: 33547 @@ -77,299 +45,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:188 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take out the card place it on the sensor for recognition and then transfer - it. +dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - End - Take out the room card with right gripper @@ -385,197 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -594,426 +136,3 @@ structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 537 - dataset_name: hotel_services_i - dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_a/hotel_services_i/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_i - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: box - level1: home_storage - level2: box - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - total_episodes: 211 - yaml: - dataset_name: hotel_services_i - dataset_uuid: null - task_descriptions: - - pick room card from front box and give room card. - scene_type: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: card - level1: nfc - level2: card - level3: null - level4: null - level5: null - - object_name: box - level1: container - level2: box - level3: null - level4: null - level5: null - - object_name: sensor - level1: electronic_products - level2: sensor - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 189 - total_frames: 33547 - total_tasks: 1 - total_videos: 567 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:188 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_a.yaml b/dataset_info/leju_robot_moving_parts_a.yaml index d1f388eb208aa7959c47870de39ef154222522b6..e21959619437562cb73f1d5a8393dc5eb80e6453 100644 --- a/dataset_info/leju_robot_moving_parts_a.yaml +++ b/dataset_info/leju_robot_moving_parts_a.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_a dataset_name: moving_parts_a -dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Grasp the gray part with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_a -video_url: ./assets/videos/leju_robot_moving_parts_a.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-557980 dataset_size: 34.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 380 total_frames: 557980 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:379 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the gray part with right gripper - Move to the table behind body @@ -449,261 +67,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -721,478 +136,3 @@ structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 516 - dataset_name: moving_parts_a - dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_a - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_a - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 380 - total_frames: 557980 - total_tasks: 1 - total_videos: 1140 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:379 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_b.yaml b/dataset_info/leju_robot_moving_parts_b.yaml index 570139442c08cce5ab304c059ab932c594382945..d6b1efd43d926fc8b3657385c989acde5d0a0b53 100644 --- a/dataset_info/leju_robot_moving_parts_b.yaml +++ b/dataset_info/leju_robot_moving_parts_b.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_b dataset_name: moving_parts_b -dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Insert the small parts into the corresponding holes on the workbench. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_b -video_url: ./assets/videos/leju_robot_moving_parts_b.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-708011 dataset_size: 43.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 490 total_frames: 708011 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:489 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Insert the small parts into the corresponding holes on the workbench. - End @@ -446,261 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -718,479 +133,3 @@ structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 514 - dataset_name: moving_parts_b - dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_b - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: moving_parts_b - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and move to the table ,then place the parts - on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 490 - total_frames: 708011 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:489 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_c.yaml b/dataset_info/leju_robot_moving_parts_c.yaml index 9183ab469052f120f6077222490970d01c077edd..8b8758ed3b1ee330124de03c1173a303ab9c315f 100644 --- a/dataset_info/leju_robot_moving_parts_c.yaml +++ b/dataset_info/leju_robot_moving_parts_c.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_c dataset_name: moving_parts_c -dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the white part on the table with left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_c -video_url: ./assets/videos/leju_robot_moving_parts_c.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-716756 dataset_size: 44.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 490 total_frames: 716756 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:489 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the white part on the table with left gripper - Grasp the white part with left gripper @@ -449,261 +67,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -721,479 +136,3 @@ structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 515 - dataset_name: moving_parts_c - dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_c - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: moving_parts_c - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and move to the table ,then place the parts - on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 490 - total_frames: 716756 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:489 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_f.yaml b/dataset_info/leju_robot_moving_parts_f.yaml index 1cec20d43fa36a374858cbeaf089fb55f45a9a98..7591cc89eda7dc9cd1a52c44129b62371196b309 100644 --- a/dataset_info/leju_robot_moving_parts_f.yaml +++ b/dataset_info/leju_robot_moving_parts_f.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_f dataset_name: moving_parts_f -dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the white part on the table with left gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_f -video_url: ./assets/videos/leju_robot_moving_parts_f.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_f.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-716938 dataset_size: 44.2GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 489 total_frames: 716938 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:488 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the white part on the table with left gripper - Grasp the white part with left gripper @@ -450,261 +68,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -722,479 +137,3 @@ structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 521 - dataset_name: moving_parts_f - dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_f/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_f - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_f - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and move to the table ,then place the parts - on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 489 - total_frames: 716938 - total_tasks: 1 - total_videos: 1467 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:488 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_g.yaml b/dataset_info/leju_robot_moving_parts_g.yaml index e26e2b815b62869758238165221f1e0aed7a0f71..e2765aaaf8aaf71cbab6ae8efcbcdea16f9a3d41 100644 --- a/dataset_info/leju_robot_moving_parts_g.yaml +++ b/dataset_info/leju_robot_moving_parts_g.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_g dataset_name: moving_parts_g -dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Insert the small component into the corresponding slot on the workbench. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_g -video_url: ./assets/videos/leju_robot_moving_parts_g.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_g.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-225345 dataset_size: 13.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 157 total_frames: 225345 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:156 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Insert the small component into the corresponding slot on the workbench. - Move to the table behind body @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -719,478 +134,3 @@ structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 523 - dataset_name: moving_parts_g - dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_g/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_g - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_g - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 157 - total_frames: 225345 - total_tasks: 1 - total_videos: 471 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:156 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_h.yaml b/dataset_info/leju_robot_moving_parts_h.yaml index 4f16569b1a4c58a780bfe318236478e0be8702e9..a90910c8f8c9492ebad8b4b613a4df5aff091caf 100644 --- a/dataset_info/leju_robot_moving_parts_h.yaml +++ b/dataset_info/leju_robot_moving_parts_h.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_h dataset_name: moving_parts_h -dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Grasp the gray part with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_h -video_url: ./assets/videos/leju_robot_moving_parts_h.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_h.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-234391 dataset_size: 14.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 162 total_frames: 234391 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:161 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Grasp the gray part with right gripper - Insert the small component into the corresponding slot on the workbench. @@ -448,261 +66,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -720,478 +135,3 @@ structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 522 - dataset_name: moving_parts_h - dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_h/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_h - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_h - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 162 - total_frames: 234391 - total_tasks: 1 - total_videos: 486 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:161 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_i.yaml b/dataset_info/leju_robot_moving_parts_i.yaml index c77ac6b3d7668136b9c5a5d9103a4ba574345ec5..c81d8d945f1be381fe4c61007bed0f2c16c11a86 100644 --- a/dataset_info/leju_robot_moving_parts_i.yaml +++ b/dataset_info/leju_robot_moving_parts_i.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_i dataset_name: moving_parts_i -dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Move to the initial position of the workbench. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_i -video_url: ./assets/videos/leju_robot_moving_parts_i.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_i.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-229727 dataset_size: 14.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 155 total_frames: 229727 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:154 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move to the initial position of the workbench. - Grasp the gray part with right gripper @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -719,478 +134,3 @@ structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 526 - dataset_name: moving_parts_i - dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_i/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_i - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_i - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 155 - total_frames: 229727 - total_tasks: 1 - total_videos: 465 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:154 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_j.yaml b/dataset_info/leju_robot_moving_parts_j.yaml index deb970675b0d7d402aa202251242850710994efa..bf4b62c3bdbdf45dd2674e70393471878b47334f 100644 --- a/dataset_info/leju_robot_moving_parts_j.yaml +++ b/dataset_info/leju_robot_moving_parts_j.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_j dataset_name: moving_parts_j -dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Move to the initial position of the workbench. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_j -video_url: ./assets/videos/leju_robot_moving_parts_j.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_j.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-223023 dataset_size: 13.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 153 total_frames: 223023 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:152 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move to the initial position of the workbench. - Grasp the gray part with right gripper @@ -447,261 +65,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -719,478 +134,3 @@ structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 524 - dataset_name: moving_parts_j - dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_j/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_j - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_j - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 153 - total_frames: 223023 - total_tasks: 1 - total_videos: 459 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:152 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_k.yaml b/dataset_info/leju_robot_moving_parts_k.yaml index 367f0302cec0129056e3fdc3b51fe939cc8d1ab8..c67e5570b85b1ec334e7bd8c405231e6f8ce4e7d 100644 --- a/dataset_info/leju_robot_moving_parts_k.yaml +++ b/dataset_info/leju_robot_moving_parts_k.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_k dataset_name: moving_parts_k -dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Pick up the small component from the shelf. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_k -video_url: ./assets/videos/leju_robot_moving_parts_k.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_k.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-468307 dataset_size: 28.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 329 total_frames: 468307 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:328 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Pick up the small component from the shelf. - Grasp the white part with right gripper @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,479 +132,3 @@ structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 529 - dataset_name: moving_parts_k - dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_k/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_k - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_k - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and move to the table ,then place the parts - on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 329 - total_frames: 468307 - total_tasks: 1 - total_videos: 987 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:328 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_m.yaml b/dataset_info/leju_robot_moving_parts_m.yaml index 3db7cf14dadb0c9714dd873b11c75258bddff1e0..14749bdc05f22f1de01f0df64ad18d189329ad36 100644 --- a/dataset_info/leju_robot_moving_parts_m.yaml +++ b/dataset_info/leju_robot_moving_parts_m.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_m dataset_name: moving_parts_m -dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the black part on the table with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_m -video_url: ./assets/videos/leju_robot_moving_parts_m.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_m.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-742399 dataset_size: 50.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 490 total_frames: 742399 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:489 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,478 +132,3 @@ structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 557 - dataset_name: moving_parts_m - dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_m/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_m - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_m - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 490 - total_frames: 742399 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:489 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_n.yaml b/dataset_info/leju_robot_moving_parts_n.yaml index 8c98fd1607e390578aae05dbaaf28fbe5ab56f1a..4636d77f12b754db4ab287c8038a16eced3853ca 100644 --- a/dataset_info/leju_robot_moving_parts_n.yaml +++ b/dataset_info/leju_robot_moving_parts_n.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_n dataset_name: moving_parts_n -dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the black part on the table with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_n -video_url: ./assets/videos/leju_robot_moving_parts_n.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_n.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-738613 dataset_size: 51.0GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 492 total_frames: 738613 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:491 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,445 +132,3 @@ structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 560 - dataset_name: moving_parts_n - dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_n/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_n - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 492 - total_frames: 738613 - total_tasks: 1 - total_videos: 1476 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:491 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_o.yaml b/dataset_info/leju_robot_moving_parts_o.yaml index 790ea5a58fc13f1574b14ae89067a2f4218f4cb0..90dc00fc3d76dfd16dc339d9032b508d95da76d6 100644 --- a/dataset_info/leju_robot_moving_parts_o.yaml +++ b/dataset_info/leju_robot_moving_parts_o.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_o dataset_name: moving_parts_o -dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Return to the initial position at the shelf objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_o -video_url: ./assets/videos/leju_robot_moving_parts_o.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_o.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-745064 dataset_size: 51.1GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 490 total_frames: 745064 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:489 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Return to the initial position at the shelf - Grasp the black part with right gripper @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,478 +132,3 @@ structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 558 - dataset_name: moving_parts_o - dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_o/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_o - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_o - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 490 - total_frames: 745064 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:489 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_q.yaml b/dataset_info/leju_robot_moving_parts_q.yaml index 2e75cdd43e4427d28e14724d1ccf2cb100bdfa1b..851b69ffa0324e9ba522f43f95105064b056bf78 100644 --- a/dataset_info/leju_robot_moving_parts_q.yaml +++ b/dataset_info/leju_robot_moving_parts_q.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_q dataset_name: moving_parts_q -dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the black part on the table with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_q -video_url: ./assets/videos/leju_robot_moving_parts_q.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_q.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-756932 dataset_size: 51.9GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 494 total_frames: 756932 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:493 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,445 +132,3 @@ structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 562 - dataset_name: moving_parts_q - dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_q/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_q - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 494 - total_frames: 756932 - total_tasks: 1 - total_videos: 1482 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:493 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_r.yaml b/dataset_info/leju_robot_moving_parts_r.yaml index 028971c4b3bd0953ca624b8c1a591c58cd1073b1..6e500199474b2977ccb23fda0fa199b332baffcf 100644 --- a/dataset_info/leju_robot_moving_parts_r.yaml +++ b/dataset_info/leju_robot_moving_parts_r.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_r dataset_name: moving_parts_r -dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the black part on the table with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_r -video_url: ./assets/videos/leju_robot_moving_parts_r.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_r.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-775023 dataset_size: 53.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 495 total_frames: 775023 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:494 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,445 +132,3 @@ structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 561 - dataset_name: moving_parts_r - dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_r/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_r - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 495 - total_frames: 775023 - total_tasks: 1 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:494 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_s.yaml b/dataset_info/leju_robot_moving_parts_s.yaml index 8d47ed09686d39bb54fbb2af15248397f5c4d2e7..17a3c9694e2f26b147d2a2ea605f358db632c1f0 100644 --- a/dataset_info/leju_robot_moving_parts_s.yaml +++ b/dataset_info/leju_robot_moving_parts_s.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_s dataset_name: moving_parts_s -dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Return to the initial position at the shelf objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_s -video_url: ./assets/videos/leju_robot_moving_parts_s.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_s.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-776972 dataset_size: 53.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 495 total_frames: 776972 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:494 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Return to the initial position at the shelf - Grasp the black part with right gripper @@ -446,261 +64,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -718,478 +133,3 @@ structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 563 - dataset_name: moving_parts_s - dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_s/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_s - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_s - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 495 - total_frames: 776972 - total_tasks: 1 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:494 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_t.yaml b/dataset_info/leju_robot_moving_parts_t.yaml index 88fc88eea2af1e5f8b83009be4fc088ea54991bd..34b82643cab515cca372c3e7ada6a6c3832dda27 100644 --- a/dataset_info/leju_robot_moving_parts_t.yaml +++ b/dataset_info/leju_robot_moving_parts_t.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_t dataset_name: moving_parts_t -dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Move to the initial position of the shelf. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_t -video_url: ./assets/videos/leju_robot_moving_parts_t.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_t.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-778671 dataset_size: 53.8GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 493 total_frames: 778671 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:492 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Move to the initial position of the shelf. - Pick up the large material from the shelf. @@ -441,261 +59,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -713,478 +128,3 @@ structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 565 - dataset_name: moving_parts_t - dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_t/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_t - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: moving_parts_t - dataset_uuid: null - task_descriptions: - - take the parts from the cabinet and place them on the table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 493 - total_frames: 778671 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:492 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_u.yaml b/dataset_info/leju_robot_moving_parts_u.yaml index 0b35e12c6ab8b57a7dc3ede50d7649e841c7da5b..60220de6479902f2f2aa9201a4568182767f8f35 100644 --- a/dataset_info/leju_robot_moving_parts_u.yaml +++ b/dataset_info/leju_robot_moving_parts_u.yaml @@ -1,14 +1,14 @@ +path: leju_robot_moving_parts_u dataset_name: moving_parts_u -dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Place the black part on the table with right gripper objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_moving_parts_u -video_url: ./assets/videos/leju_robot_moving_parts_u.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_u.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-149345 dataset_size: 10.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 100 total_frames: 149345 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:99 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: take the parts from the cabinet and place them on the table. +dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -445,261 +63,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -717,445 +132,3 @@ structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 564 - dataset_name: moving_parts_u - dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_u/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_u - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: {} - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 100 - total_frames: 149345 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:99 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_part_placement.yaml b/dataset_info/leju_robot_part_placement.yaml index 685261b9910c6d3c0a991dc32d1c16d4cd0e68f2..c86c80c40af6a211e5e1a7fd5a58d1c6dbabfe89 100644 --- a/dataset_info/leju_robot_part_placement.yaml +++ b/dataset_info/leju_robot_part_placement.yaml @@ -1,14 +1,14 @@ +path: leju_robot_part_placement dataset_name: part_placement -dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 -scene_type: -- home +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Insert the small parts into the corresponding slots on the workbench. objects: - object_name: table level1: furniture @@ -28,41 +28,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_part_placement -video_url: ./assets/videos/leju_robot_part_placement.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_part_placement.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-796570 dataset_size: 50.4GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 538 total_frames: 796570 @@ -71,362 +39,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:537 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up part from front cabinet turn around place on part at back table. +dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Insert the small parts into the corresponding slots on the workbench. - Move the large parts to the workbench. @@ -451,261 +69,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ @@ -723,478 +138,3 @@ structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 369 - dataset_name: part_placement - dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant_wy/manufacturing_plant/loading_of_tooling/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_part_placement - scene_types: - - home - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - - object_name: cabinet - level1: home_storage - level2: cabinet - level3: null - level4: null - level5: null - total_episodes: null - yaml: - dataset_name: part_placement - dataset_uuid: null - task_descriptions: - - pick up part from front cabinet turn around place on part at back table. - scene_type: - - home - atomic_actions: - - grasp - - place - - pick - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cabinet - level1: furniture - level2: cabinet - level3: null - level4: null - level5: null - - object_name: parts - level1: mechanical_parts - level2: parts - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - two_finger_gripper - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 538 - total_frames: 796570 - total_tasks: 1 - total_videos: 1614 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:537 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_a.yaml b/dataset_info/leju_robot_pass_the_cleaner_a.yaml index a91e795fbe3581d50f9edd893a6659f6bcf0c972..40bf0bd5e98e0bcb441d6df596f2b402a7e729d1 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_a.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_a.yaml @@ -1,15 +1,14 @@ +path: leju_robot_pass_the_cleaner_a dataset_name: pass_the_cleaner_a -dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 -scene_type: -- home -- industry +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Turn the bottle to the front side. objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_pass_the_cleaner_a -video_url: ./assets/videos/leju_robot_pass_the_cleaner_a.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_a.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-169467 dataset_size: 8.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 457 total_frames: 169467 @@ -66,362 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:456 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cleaner and put it on the table. +dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. @@ -434,261 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -707,469 +121,3 @@ structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 370 - dataset_name: pass_the_cleaner_a - dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_a/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_a - scene_types: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: pass_the_cleaner_a - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and passit to left hand then put it on the - table. - scene_type: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_robot - end_effector_type: two_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 457 - total_frames: 169467 - total_tasks: 1 - total_videos: 1371 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:456 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_b.yaml b/dataset_info/leju_robot_pass_the_cleaner_b.yaml index 8124dd55a268ea6eaf3d356e4e93c0abc1fd04a9..9ff05aa728ea0272c4fced29b8f449190eb1d762 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_b.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_b.yaml @@ -1,15 +1,14 @@ +path: leju_robot_pass_the_cleaner_b dataset_name: pass_the_cleaner_b -dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 -scene_type: -- home -- industry +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Turn the bottle to the front side. objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_pass_the_cleaner_b -video_url: ./assets/videos/leju_robot_pass_the_cleaner_b.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_b.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-164222 dataset_size: 8.5GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 441 total_frames: 164222 @@ -66,362 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:440 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cleaner and put it on the table. +dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. @@ -434,261 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -707,469 +121,3 @@ structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 517 - dataset_name: pass_the_cleaner_b - dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_b/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_b - scene_types: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: pass_the_cleaner_b - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and passit to left hand then put it on the - table. - scene_type: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 441 - total_frames: 164222 - total_tasks: 1 - total_videos: 1323 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:440 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_c.yaml b/dataset_info/leju_robot_pass_the_cleaner_c.yaml index fc1e0350ddc2fa1a3f7d09f6d068d1301d03285d..1476c14fb63ad1af6861508f91de626bdab07851 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_c.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_c.yaml @@ -1,15 +1,14 @@ +path: leju_robot_pass_the_cleaner_c dataset_name: pass_the_cleaner_c -dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 -scene_type: -- home -- industry +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Turn the bottle to the front side. objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_pass_the_cleaner_c -video_url: ./assets/videos/leju_robot_pass_the_cleaner_c.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_c.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-162075 dataset_size: 8.3GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 444 total_frames: 162075 @@ -66,362 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:443 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cleaner and put it on the table. +dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. @@ -434,261 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -707,469 +121,3 @@ structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 511 - dataset_name: pass_the_cleaner_c - dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_c/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_c - scene_types: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: pass_the_cleaner_c - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and passit to left hand then put it on the - table. - scene_type: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 444 - total_frames: 162075 - total_tasks: 1 - total_videos: 1332 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:443 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_d.yaml b/dataset_info/leju_robot_pass_the_cleaner_d.yaml index 2f2045636cce3df2a07bcedefe28185aecf8a823..f970c17ecee9c8e57f4991b026dfcf0d89af8c46 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_d.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_d.yaml @@ -1,15 +1,14 @@ +path: leju_robot_pass_the_cleaner_d dataset_name: pass_the_cleaner_d -dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 -scene_type: -- home -- industry +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Turn the bottle to the front side. objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_pass_the_cleaner_d -video_url: ./assets/videos/leju_robot_pass_the_cleaner_d.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_d.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-168676 dataset_size: 8.7GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 451 total_frames: 168676 @@ -66,362 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:450 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cleaner and put it on the table. +dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. @@ -434,261 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -707,469 +121,3 @@ structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 512 - dataset_name: pass_the_cleaner_d - dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_d/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_d - scene_types: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: pass_the_cleaner_d - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and passit to left hand then put it on the - table. - scene_type: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 451 - total_frames: 168676 - total_tasks: 1 - total_videos: 1353 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:450 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_e.yaml b/dataset_info/leju_robot_pass_the_cleaner_e.yaml index a0bf369c26b9de345ac951ee2e0bc8c2248edf58..71ac1fab6484fd52b94370c51fa057a85622fae1 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_e.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_e.yaml @@ -1,15 +1,14 @@ +path: leju_robot_pass_the_cleaner_e dataset_name: pass_the_cleaner_e -dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 -scene_type: -- home -- industry +robot_type: '' +end_effector_type: +- five_finger_hand +scene_type: [] atomic_actions: - grasp - pick - place -end_effector_type: -- five_finger_hand -operation_platform_height: null +tasks: Turn the bottle to the front side. objects: - object_name: table level1: furniture @@ -23,41 +22,9 @@ objects: level3: null level4: null level5: null -path: leju_robot_pass_the_cleaner_e -video_url: ./assets/videos/leju_robot_pass_the_cleaner_e.mp4 -thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_e.jpg -license: apache-2.0 -language: -- en -- zh -task_categories: -- robotics -tags: -- RoboCOIN -- LeRobot -frame_range: 100K-1M +operation_platform_height: null +frame_range: 0-165558 dataset_size: 8.6GB -configs: -- config_name: default - data_files: data/*/*.parquet -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -dataset_description: This dataset uses an extended format based on LeRobot and is - fully compatible with LeRobot. -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -project_page: https://flagopen.github.io/RoboCOIN/ -issues_url: https://github.com/FlagOpen/RoboCOIN/issues -robot_type: Leju_Kuavo_4 -codebase_version: v2.1 statistics: total_episodes: 430 total_frames: 165558 @@ -66,362 +33,12 @@ statistics: total_chunks: 1 chunks_size: 1000 fps: 30 -splits: - train: 0:429 -data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet -video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 -features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 -tasks: pick up the cleaner and put it on the table. +dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 +language: +- en +- zh +task_categories: +- robotics sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. @@ -434,261 +51,58 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -cameras: -- key: observation.images.camera_head_rgb - name: camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_left_wrist_rgb - name: camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -- key: observation.images.camera_right_wrist_rgb - name: camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - resolution: - - 480 - - 848 - fps: 30 - is_depth: false -observation_space: - images: - - key: observation.images.camera_head_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_left_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - - key: observation.images.camera_right_wrist_rgb - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w -action_space: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s -eef_sim_pose: auto_generated -gripper_open_scale: auto_generated +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +license: apache-2.0 +tags: +- RoboCOIN +- LeRobot +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" depth_enabled: false -data_schema: auto_generated +data_schema: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ @@ -707,469 +121,3 @@ structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ \ └── (...)" -contact_email: null -contact_info: For questions, issues, or feedback regarding this dataset, please contact - us. -support_info: For technical support, please open an issue on our GitHub repository. -license_details: Please refer to the LICENSE file for full license terms and conditions. -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -additional_citations: 'If you use this dataset, please also consider citing: - - - LeRobot Framework: https://github.com/huggingface/lerobot' -version_info: '## Version History - - - v1.0.0 (2025-11): Initial release' -extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper - in your research/publications—see the "Citation" section for details. You agree - to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: - Company/Organization: - type: text - description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" - Country: - type: country - description: e.g., "Germany", "China", "United States" -raw: - db_record: - id: 513 - dataset_name: pass_the_cleaner_e - dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 - device_model: leju_robot - end_effector_type: five_finger_hand - operation_platform_height: null - yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_e/local_dataset_info.yaml - convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_e - scene_types: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - total_episodes: 500 - yaml: - dataset_name: pass_the_cleaner_e - dataset_uuid: null - task_descriptions: - - pick up the cleaner with right hand and passit to left hand then put it on the - table. - scene_type: - - home - - industry - atomic_actions: - - grasp - - pick - - place - objects: - - object_name: table - level1: furniture - level2: table - level3: null - level4: null - level5: null - - object_name: cleaner - level1: daily_necessities - level2: cleaner - level3: null - level4: null - level5: null - operation_platform_height: null - device_model: - - leju_kuavo_4_pro - end_effector_type: five_finger_gripper - meta: - robot_type: leju_robot - codebase_version: v2.1 - statistics: - total_episodes: 430 - total_frames: 165558 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 - splits: - train: 0:429 - data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - features: - observation.images.camera_head_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_left_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.images.camera_right_wrist_rgb: - dtype: video - shape: - - 480 - - 848 - - 3 - names: - - height - - width - - channels - info: - video.height: 480 - video.width: 848 - video.codec: av1 - video.pix_fmt: yuv420p - video.is_depth_map: false - video.fps: 30 - video.channels: 3 - has_audio: false - observation.state: - dtype: float32 - shape: - - 118 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - - left_eef_pos_x_m - - left_eef_pos_y_m - - left_eef_pos_z_m - - right_eef_pos_x_m - - right_eef_pos_y_m - - right_eef_pos_z_m - - left_eef_rot_euler_x_rad - - left_eef_rot_euler_y_rad - - left_eef_rot_euler_z_rad - - right_eef_rot_euler_x_rad - - right_eef_rot_euler_y_rad - - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w - action: - dtype: float32 - shape: - - 54 - names: - - left_arm_joint_1_rad - - left_arm_joint_2_rad - - left_arm_joint_3_rad - - left_arm_joint_4_rad - - left_arm_joint_5_rad - - left_arm_joint_6_rad - - left_arm_joint_7_rad - - right_arm_joint_1_rad - - right_arm_joint_2_rad - - right_arm_joint_3_rad - - right_arm_joint_4_rad - - right_arm_joint_5_rad - - right_arm_joint_6_rad - - right_arm_joint_7_rad - - left_leg_joint_1_rad - - left_leg_joint_2_rad - - left_leg_joint_3_rad - - left_leg_joint_4_rad - - left_leg_joint_5_rad - - left_leg_joint_6_rad - - right_leg_joint_1_rad - - right_leg_joint_2_rad - - right_leg_joint_3_rad - - right_leg_joint_4_rad - - right_leg_joint_5_rad - - right_leg_joint_6_rad - - left_hand_joint_1_rad - - left_hand_joint_2_rad - - left_hand_joint_3_rad - - left_hand_joint_4_rad - - left_hand_joint_5_rad - - left_hand_joint_6_rad - - right_hand_joint_1_rad - - right_hand_joint_2_rad - - right_hand_joint_3_rad - - right_hand_joint_4_rad - - right_hand_joint_5_rad - - right_hand_joint_6_rad - - head_joint_1_rad - - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - timestamp: - dtype: float32 - shape: - - 1 - names: null - frame_index: - dtype: int64 - shape: - - 1 - names: null - episode_index: - dtype: int64 - shape: - - 1 - names: null - index: - dtype: int64 - shape: - - 1 - names: null - task_index: - dtype: int64 - shape: - - 1 - names: null - subtask_annotation: - names: null - dtype: int32 - shape: - - 5 - scene_annotation: - names: null - dtype: int32 - shape: - - 1 - eef_sim_pose_state: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_sim_pose_action: - names: - - left_eef_pos_x - - left_eef_pos_y - - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_z - - right_eef_pos_x - - right_eef_pos_y - - right_eef_pos_z - - right_eef_ori_x - - right_eef_ori_y - - right_eef_ori_z - dtype: float32 - shape: - - 12 - eef_direction_state: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_direction_action: - names: - - left_eef_direction - - right_eef_direction - dtype: int32 - shape: - - 2 - eef_velocity_state: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_velocity_action: - names: - - left_eef_velocity - - right_eef_velocity - dtype: int32 - shape: - - 2 - eef_acc_mag_state: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - eef_acc_mag_action: - names: - - left_eef_acc_mag - - right_eef_acc_mag - dtype: int32 - shape: - - 2 - depth_enabled: false diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index 9177394901af0e2fce5badd4dc9b2090210c480b..dd8cc420b128977b3eb2b496daef86f3e5c97965 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:850867c6db1c34832c25775da03c0a5cc9cd55ad3762b02622ff46fe03861532 -size 14695002 +oid sha256:6b8f161f410a89394b12662717e0e8968877e30e8e720054a048a0aeedce96f5 +size 3622591